Method and apparatus for controlling a vehicle in autonomous driving system

ABSTRACT

Disclosed herein is a control apparatus included in a vehicle in automated vehicle and highway systems, the control apparatus including: a steering wheel having at least one touch screen on which a screen for manipulating at least one of the functions of the vehicle is output In addition, a control unit determines an intention of the user related to a selection of any one of the functions of the vehicle and controls a screen for manipulating a function according to the determined intention of the user to be output.

TECHNICAL FIELD

The present invention relates to a method and an apparatus of controlling a vehicle in automated vehicle and highway systems.

BACKGROUND ART

Vehicles can be classified into an internal combustion engine vehicle, an external composition engine vehicle, a gas turbine vehicle, an electric vehicle, etc. according to types of motors used therefor.

An autonomous vehicle refers to a self-driving vehicle that can travel without an operation of a driver or a passenger, and Autonomous Driving Systems refer to systems that monitor and control the autonomous vehicle such that the autonomous vehicle can perform self-driving.

DISCLOSURE Technical Problem

An object of the present invention is to control a vehicle so that a function matched to an intention of a user is output from automated vehicle and highway systems.

In addition, an object of the present invention is to control to output a guide message related to functions of a vehicle from automated vehicle and highway systems.

In addition, an object of the present invention is to output a screen related to functions of a vehicle from automated vehicle and highway systems in various manners.

Objects of the present invention are not limited to the above-mentioned objects. That is, other objects that are not mentioned may be obviously understood by those skilled in the art to which the present invention pertains from the following description.

Technical Solution

According to an aspect of the present invention, a control apparatus included in a vehicle in automated vehicle and highway systems includes: a sensor unit obtaining sensor data related to a selection of any one of the functions of the vehicle; a steering wheel including at least one touch screen on which a screen for manipulating at least one of the functions of the vehicle is output; and a control unit determining an intention of the user related to the selection of any one of the functions of the vehicle and controlling a screen for manipulating a function according to the determined intention of the user to be output.

The control unit may determine the intention of the user using any one of 1) the sensor data of the user, 2) first context data which is pre-learned in relation to a situation in which the user selects any one of the functions of the vehicle, or 3) second context data stored in a server that communicates with a plurality of other vehicles to learn a general situation in which any one of the functions of the vehicle is selected.

The functions of the vehicle may include at least one of a function of manipulating components provided in the vehicle or a function of manipulating applications installed in the vehicle.

The sensor data of the user may be sensor data for at least one of a gaze, an operation, or a voice of the user, or a combination of each sensor data.

The control unit may control a screen of a manipulation target related to information obtained through the sensor data to be output, and the manipulation target may be any one of the components provided in the vehicle or any one of the applications installed in the vehicle.

The information obtained through the sensor data may include information about at least one of an internal environment of the vehicle, a posture of the user, driving related information, or a currently operating application.

The information related to the internal environment of the vehicle may include at least one of temperature, humidity, and an air pollution degree in the vehicle, the information related to the posture of the user may include at least one of a backrest angle of a seat seated by the user, a neckrest angle of the seat, a height of the seat, and a position of the seat, the driving related information may include at least one of a current traffic situation, a current location, and a driving destination, and the information related to the currently operating application may include information related to an operation of at least one of a music player, a navigation, a radio, and a telephone.

When a location of any one of the components provided in the vehicle is included in a specific area within the vehicle determined according to the gaze of the user, the control unit may control to output a screen for operating the corresponding component.

When the manipulation target related to the information obtained through the sensor data is not detected, the control unit may determine the intention of the user using the first context data.

The control unit may control to output a screen for manipulating a function related to the current situation among the functions of the vehicle using the first context data.

When the function related to the current situation is not detected, the control unit may control to output a screen for manipulating a function generally used in relation to the current situation among the functions of the vehicle using the second context data.

At least one graphic object for manipulation of the user may be displayed on one area of the output screen, and the graphic object may be the form of any one of a button, a slide bar, and a jog dial.

The control unit may control the form of the graphic object to be displayed differently according to the determined intention of the user.

The touch screen may include a touch sensor that senses a touch input, and the control unit may control the touch sensor to sense only the touch input determined according to the form of the graphic object.

The touch input determined according to the form of the graphic object may be any one of a short touch, a long touch, a multi touch, a drag touch, a flick touch, a pinch-in touch, a pinch-out touch, a swipe touch, and a hovering touch on the touch screen, or a combination thereof.

The control unit may control the manipulation to be performed differently according to a type of the sensed touch input even if the graphic object has the same form.

The apparatus of controlling a vehicle may further include a message output unit outputting a guide message related to the output screen.

The guide message may include at least one of information on whether or not the output screen is updated, information on a function output on the screen among functions of the vehicle, and information on a manipulation result of the function output on the screen.

The message output unit may output the guide message using at least one of an audio signal, a haptic signal for transmitting vibration or pressure to the user, and an image signal according to information included in the guide message.

According to another exemplary embodiment of the present invention, a vehicle including any one of the apparatuses of controlling a vehicle described above may be disclosed.

According to still another exemplary embodiment of the present invention, a method of controlling a vehicle including an apparatus of controlling a vehicle in automated vehicle and highway systems includes: obtaining, by a sensor unit, sensor data of a user related to a selection of any one of the functions of the vehicle; determining, by a control unit, an intention of the user related to the selection of any one of the functions of the vehicle; and outputting, by a touch screen included in a steering wheel of the vehicle, a screen for manipulating a function consistent with the determined intention of the user.

The intention of the user may be determined using any one of 1) the sensor data of the user, 2) first context data which is pre-learned in relation to a situation in which the user selects any one of the functions of the vehicle, or 3) second context data stored in a server that communicates with a plurality of other vehicles to learn a general situation in which any one of the functions of the vehicle is selected.

Effects of Invention

According to an exemplary embodiment of the present invention, any one of the sensor data, the first context data, or the second context data of the user is used to determine the intention of the user related to the selection of any one of the functions of the vehicle. Therefore, according to the present invention, the function most suitable for the current situation is outputted, and it is possible to minimize the intervention of the user for utilizing various functions of the vehicle, thereby improving convenience.

In addition, according to an exemplary embodiment of the present invention, in relation to the functions of the vehicle, the guide message including the information on whether the screen is updated, the output function, and the manipulation result of the output function is output. Therefore, the user may more conveniently manipulate the output function, and may intuitively check the manipulation result.

In addition, according to an exemplary embodiment of the present invention, at least one graphic object for manipulation is output on the output screen, and the form of the graphic object varies according to the determined intention of the user. Therefore, the manipulation manner may be diversified according to the form of the graphic object, and even in the same operation, different manipulation results may be provided for each function of the vehicle.

The effects obtainable in the present invention are not limited to the effects mentioned above, and other effects that are not mentioned may be obviously understood by those skilled in the art to which the present invention pertains from the following description.

DESCRIPTION OF DRAWINGS

FIG. 1 is a block diagram of a wireless communication system to which methods proposed in the disclosure are applicable.

FIG. 2 shows an example of a signal transmission/reception method in a wireless communication system.

FIG. 3 shows an example of basic operations of an autonomous vehicle and a 5G network in a 5G communication system.

FIG. 4 shows an example of a basic operation between vehicles using 5G communication.

FIG. 5 illustrates a vehicle according to an embodiment of the present invention.

FIG. 6 is a control block diagram of the vehicle according to an embodiment of the present invention.

FIG. 7 is a control block diagram of an autonomous device according to an embodiment of the present invention.

FIG. 8 is a diagram showing a signal flow in an autonomous vehicle according to an embodiment of the present invention.

FIG. 9 is a diagram illustrating the interior of a vehicle according to an embodiment of the present invention.

FIG. 10 is a block diagram referred to in description of a cabin system for a vehicle according to an embodiment of the present invention.

FIG. 11 is a diagram referred to in description of a usage scenario of a user according to an embodiment of the present invention.

FIG. 12 is a flowchart for describing a method of controlling a vehicle according to an exemplary embodiment of the present invention.

FIG. 13 is a flowchart for specifically describing steps of determining an intention of a user in the method of controlling a vehicle according to an exemplary embodiment of the present invention.

FIGS. 14A to 14D are views for describing a screen output to manipulate a function of a vehicle according to an exemplary embodiment of the present invention.

FIG. 15 is a view for describing an example of outputting a screen using sensor data of a user.

FIG. 16 is a view for describing another example of outputting the screen using the sensor data of the user.

FIG. 17 is a view for describing that a screen is output in relation to a gaze of a user among the sensor data of the user.

FIG. 18 is a view for describing an example of outputting the screen using first context data.

FIG. 19 is a view for describing an example of outputting the screen using second context data.

FIG. 20 is a view for describing another example of outputting the screen using first context data.

FIG. 21 is a view for describing an example of outputting the screen in relation to an operation of a user among the sensor data of the user.

FIGS. 22A and 22B are views for describing an example a manipulation manner of a user on the output screen in relation to the functions of the vehicle.

FIGS. 23A and 23B are views for describing another example the manipulation manner of the user on the output screen in relation to the functions of the vehicle.

FIGS. 24A and 24B are views for describing manipulation results according to the functions of the vehicle on a screen including the same graphic object.

MODE FOR INVENTION

Hereinafter, embodiments of the disclosure will be described in detail with reference to the attached drawings. The same or similar components are given the same reference numbers and redundant description thereof is omitted. The suffixes “module” and “unit” of elements herein are used for convenience of description and thus can be used interchangeably and do not have any distinguishable meanings or functions. Further, in the following description, if a detailed description of known techniques associated with the present invention would unnecessarily obscure the gist of the present invention, detailed description thereof will be omitted. In addition, the attached drawings are provided for easy understanding of embodiments of the disclosure and do not limit technical spirits of the disclosure, and the embodiments should be construed as including all modifications, equivalents, and alternatives falling within the spirit and scope of the embodiments.

While terms, such as “first”, “second”, etc., may be used to describe various components, such components must not be limited by the above terms. The above terms are used only to distinguish one component from another.

When an element is “coupled” or “connected” to another element, it should be understood that a third element may be present between the two elements although the element may be directly coupled or connected to the other element. When an element is “directly coupled” or “directly connected” to another element, it should be understood that no element is present between the two elements.

The singular forms are intended to include the plural forms as well, unless the context clearly indicates otherwise.

In addition, in the specification, it will be further understood that the terms “comprise” and “include” specify the presence of stated features, integers, steps, operations, elements, components, and/or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or combinations.

A. Example of Block Diagram of UE and 5G Network

FIG. 1 is a block diagram of a wireless communication system to which methods proposed in the disclosure are applicable.

Referring to FIG. 1, a device (autonomous device) including an autonomous module is defined as a first communication device (910 of FIG. 1), and a processor 911 can perform detailed autonomous operations.

A 5G network including another vehicle communicating with the autonomous device is defined as a second communication device (920 of FIG. 1), and a processor 921 can perform detailed autonomous operations.

The 5G network may be represented as the first communication device and the autonomous device may be represented as the second communication device.

For example, the first communication device or the second communication device may be a base station, a network node, a transmission terminal, a reception terminal, a wireless device, a wireless communication device, an autonomous device, or the like.

For example, a terminal or user equipment (UE) may include a vehicle, a cellular phone, a smart phone, a laptop computer, a digital broadcast terminal, personal digital assistants (PDAs), a portable multimedia player (PMP), a navigation device, a slate PC, a tablet PC, an ultrabook, a wearable device (e.g., a smartwatch, a smart glass and a head mounted display (HMD)), etc. For example, the HMD may be a display device worn on the head of a user. For example, the HMD may be used to realize VR, AR or MR. Referring to FIG. 1, the first communication device 910 and the second communication device 920 include processors 911 and 921, memories 914 and 924, one or more Tx/Rx radio frequency (RF) modules 915 and 925, Tx processors 912 and 922, Rx processors 913 and 923, and antennas 916 and 926. The Tx/Rx module is also referred to as a transceiver. Each Tx/Rx module 915 transmits a signal through each antenna 926. The processor implements the aforementioned functions, processes and/or methods. The processor 921 may be related to the memory 924 that stores program code and data. The memory may be referred to as a computer-readable medium. More specifically, the Tx processor 912 implements various signal processing functions with respect to L1 (i.e., physical layer) in DL (communication from the first communication device to the second communication device). The Rx processor implements various signal processing functions of L1 (i.e., physical layer).

UL (communication from the second communication device to the first communication device) is processed in the first communication device 910 in a way similar to that described in association with a receiver function in the second communication device 920. Each Tx/Rx module 925 receives a signal through each antenna 926. Each Tx/Rx module provides RF carriers and information to the Rx processor 923. The processor 921 may be related to the memory 924 that stores program code and data. The memory may be referred to as a computer-readable medium.

B. Signal Transmission/Reception Method in Wireless Communication System

FIG. 2 is a diagram showing an example of a signal transmission/reception method in a wireless communication system.

Referring to FIG. 2, when a UE is powered on or enters a new cell, the UE performs an initial cell search operation such as synchronization with a BS (S201). For this operation, the UE can receive a primary synchronization channel (P-SCH) and a secondary synchronization channel (S-SCH) from the BS to synchronize with the BS and acquire information such as a cell ID. In LTE and NR systems, the P-SCH and S-SCH are respectively called a primary synchronization signal (PSS) and a secondary synchronization signal (SSS). After initial cell search, the UE can acquire broadcast information in the cell by receiving a physical broadcast channel (PBCH) from the BS. Further, the UE can receive a downlink reference signal (DL RS) in the initial cell search step to check a downlink channel state. After initial cell search, the UE can acquire more detailed system information by receiving a physical downlink shared channel (PDSCH) according to a physical downlink control channel (PDCCH) and information included in the PDCCH (S202).

Meanwhile, when the UE initially accesses the BS or has no radio resource for signal transmission, the UE can perform a random access procedure (RACH) for the BS (steps S203 to S206). To this end, the UE can transmit a specific sequence as a preamble through a physical random access channel (PRACH) (S203 and S205) and receive a random access response (RAR) message for the preamble through a PDCCH and a corresponding PDSCH (S204 and S206). In the case of a contention-based RACH, a contention resolution procedure may be additionally performed.

After the UE performs the above-described process, the UE can perform PDCCH/PDSCH reception (S207) and physical uplink shared channel (PUSCH)/physical uplink control channel (PUCCH) transmission (S208) as normal uplink/downlink signal transmission processes. Particularly, the UE receives downlink control information (DCI) through the PDCCH. The UE monitors a set of PDCCH candidates in monitoring occasions set for one or more control element sets (CORESET) on a serving cell according to corresponding search space configurations. A set of PDCCH candidates to be monitored by the UE is defined in terms of search space sets, and a search space set may be a common search space set or a UE-specific search space set. CORESET includes a set of (physical) resource blocks having a duration of one to three OFDM symbols. A network can configure the UE such that the UE has a plurality of CORESETs. The UE monitors PDCCH candidates in one or more search space sets. Here, monitoring means attempting decoding of PDCCH candidate(s) in a search space. When the UE has successfully decoded one of PDCCH candidates in a search space, the UE determines that a PDCCH has been detected from the PDCCH candidate and performs PDSCH reception or PUSCH transmission on the basis of DCI in the detected PDCCH. The PDCCH can be used to schedule DL transmissions over a PDSCH and UL transmissions over a PUSCH. Here, the DCI in the PDCCH includes downlink assignment (i.e., downlink grant (DL grant)) related to a physical downlink shared channel and including at least a modulation and coding format and resource allocation information, or an uplink grant (UL grant) related to a physical uplink shared channel and including a modulation and coding format and resource allocation information.

An initial access (IA) procedure in a 5G communication system will be additionally described with reference to FIG. 2.

The UE can perform cell search, system information acquisition, beam alignment for initial access, and DL measurement on the basis of an SSB. The SSB is interchangeably used with a synchronization signal/physical broadcast channel (SS/PBCH) block.

The SSB includes a PSS, an SSS and a PBCH. The SSB is configured in four consecutive OFDM symbols, and a PSS, a PBCH, an SSS/PBCH or a PBCH is transmitted for each OFDM symbol. Each of the PSS and the SSS includes one OFDM symbol and 127 subcarriers, and the PBCH includes 3 OFDM symbols and 576 subcarriers.

Cell search refers to a process in which a UE acquires time/frequency synchronization of a cell and detects a cell identifier (ID) (e.g., physical layer cell ID (PCI)) of the cell. The PSS is used to detect a cell ID in a cell ID group and the SSS is used to detect a cell ID group. The PBCH is used to detect an SSB (time) index and a half-frame.

There are 336 cell ID groups and there are 3 cell IDs per cell ID group. A total of 1008 cell IDs are present. Information on a cell ID group to which a cell ID of a cell belongs is provided/acquired through an SSS of the cell, and information on the cell ID among 336 cell ID groups is provided/acquired through a PSS.

The SSB is periodically transmitted in accordance with SSB periodicity. A default SSB periodicity assumed by a UE during initial cell search is defined as 20 ms. After cell access, the SSB periodicity can be set to one of {5 ms, 10 ms, 20 ms, 40 ms, 80 ms, 160 ms} by a network (e.g., a BS).

Next, acquisition of system information (SI) will be described.

SI is divided into a master information block (MIB) and a plurality of system information blocks (SIBs). SI other than the MIB may be referred to as remaining minimum system information. The MIB includes information/parameter for monitoring a PDCCH that schedules a PDSCH carrying SIB1 (SystemInformationBlock1) and is transmitted by a BS through a PBCH of an SSB. SIB1 includes information related to availability and scheduling (e.g., transmission periodicity and SI-window size) of the remaining SIBs (hereinafter, SIBx, x is an integer equal to or greater than 2). SiBx is included in an SI message and transmitted over a PDSCH. Each SI message is transmitted within a periodically generated time window (i.e., SI-window).

A random access (RA) procedure in a 5G communication system will be additionally described with reference to FIG. 2.

A random access procedure is used for various purposes. For example, the random access procedure can be used for network initial access, handover, and UE-triggered UL data transmission. A UE can acquire UL synchronization and UL transmission resources through the random access procedure. The random access procedure is classified into a contention-based random access procedure and a contention-free random access procedure. A detailed procedure for the contention-based random access procedure is as follows.

A UE can transmit a random access preamble through a PRACH as Msg1 of a random access procedure in UL. Random access preamble sequences having different two lengths are supported. A long sequence length 839 is applied to subcarrier spacings of 1.25 kHz and 5 kHz and a short sequence length 139 is applied to subcarrier spacings of 15 kHz, 30 kHz, 60 kHz and 120 kHz.

When a BS receives the random access preamble from the UE, the BS transmits a random access response (RAR) message (Msg2) to the UE. A PDCCH that schedules a PDSCH carrying a RAR is CRC masked by a random access (RA) radio network temporary identifier (RNTI) (RA-RNTI) and transmitted. Upon detection of the PDCCH masked by the RA-RNTI, the UE can receive a RAR from the PDSCH scheduled by DCI carried by the PDCCH. The UE checks whether the RAR includes random access response information with respect to the preamble transmitted by the UE, that is, Msg1. Presence or absence of random access information with respect to Msg1 transmitted by the UE can be determined according to presence or absence of a random access preamble ID with respect to the preamble transmitted by the UE. If there is no response to Msg1, the UE can retransmit the RACH preamble less than a predetermined number of times while performing power ramping. The UE calculates PRACH transmission power for preamble retransmission on the basis of most recent pathloss and a power ramping counter.

The UE can perform UL transmission through Msg3 of the random access procedure over a physical uplink shared channel on the basis of the random access response information. Msg3 can include an RRC connection request and a UE ID. The network can transmit Msg4 as a response to Msg3, and Msg4 can be handled as a contention resolution message on DL. The UE can enter an RRC connected state by receiving Msg4.

C. Beam Management (BM) Procedure of 5G Communication System

A BM procedure can be divided into (1) a DL MB procedure using an SSB or a CSI-RS and (2) a UL BM procedure using a sounding reference signal (SRS). In addition, each BM procedure can include Tx beam swiping for determining a Tx beam and Rx beam swiping for determining an Rx beam.

The DL BM procedure using an SSB will be described.

Configuration of a beam report using an SSB is performed when channel state information (CSI)/beam is configured in RRC CONNECTED.

-   -   A UE receives a CSI-ResourceConfig IE including         CSI-SSB-ResourceSetList for SSB resources used for BM from a BS.         The RRC parameter “csi-SSB-ResourceSetList” represents a list of         SSB resources used for beam management and report in one         resource set. Here, an SSB resource set can be set as {SSBx1,         SSBx2, SSBx3, SSBx4, . . . }. An SSB index can be defined in the         range of 0 to 63.     -   The UE receives the signals on SSB resources from the BS on the         basis of the CSI-SSB-ResourceSetList.     -   When CSI-RS reportConfig with respect to a report on SSBRI and         reference signal received power (RSRP) is set, the UE reports         the best SSBRI and RSRP corresponding thereto to the BS. For         example, when reportQuantity of the CSI-RS reportConfig IE is         set to ssb-Index-RSRP′, the UE reports the best SSBRI and RSRP         corresponding thereto to the BS.

When a CSI-RS resource is configured in the same OFDM symbols as an SSB and ‘QCL-TypeD’ is applicable, the UE can assume that the CSI-RS and the SSB are quasi co-located (QCL) from the viewpoint of QCL-TypeD′. Here, QCL-TypeD may mean that antenna ports are quasi co-located from the viewpoint of a spatial Rx parameter. When the UE receives signals of a plurality of DL antenna ports in a QCL-TypeD relationship, the same Rx beam can be applied.

Next, a DL BM procedure using a CSI-RS will be described.

An Rx beam determination (or refinement) procedure of a UE and a Tx beam swiping procedure of a BS using a CSI-RS will be sequentially described. A repetition parameter is set to ‘ON’ in the Rx beam determination procedure of a UE and set to ‘OFF’ in the Tx beam swiping procedure of a BS.

First, the Rx beam determination procedure of a UE will be described.

-   -   The UE receives an NZP CSI-RS resource set IE including an RRC         parameter with respect to ‘repetition’ from a BS through RRC         signaling. Here, the RRC parameter ‘repetition’ is set to ‘ON’.     -   The UE repeatedly receives signals on resources in a CSI-RS         resource set in which the RRC parameter ‘repetition’ is set to         ‘ON’ in different OFDM symbols through the same Tx beam (or DL         spatial domain transmission filters) of the BS.     -   The UE determines an RX beam thereof.     -   The UE skips a CSI report. That is, the UE can skip a CSI report         when the RRC parameter ‘repetition’ is set to ‘ON’.

Next, the Tx beam determination procedure of a BS will be described.

-   -   A UE receives an NZP CSI-RS resource set IE including an RRC         parameter with respect to ‘repetition’ from the BS through RRC         signaling. Here, the RRC parameter ‘repetition’ is related to         the Tx beam swiping procedure of the BS when set to ‘OFF’.     -   The UE receives signals on resources in a CSI-RS resource set in         which the RRC parameter ‘repetition’ is set to ‘OFF’ in         different DL spatial domain transmission filters of the BS.     -   The UE selects (or determines) a best beam.     -   The UE reports an ID (e.g., CRI) of the selected beam and         related quality information (e.g., RSRP) to the BS. That is,         when a CSI-RS is transmitted for BM, the UE reports a CRI and         RSRP with respect thereto to the BS.

Next, the UL BM procedure using an SRS will be described.

-   -   A UE receives RRC signaling (e.g., SRS-Config IE) including a         (RRC parameter) purpose parameter set to ‘beam management” from         a BS. The SRS-Config IE is used to set SRS transmission. The         SRS-Config IE includes a list of SRS-Resources and a list of         SRS-ResourceSets. Each SRS resource set refers to a set of         SRS-resources.

The UE determines Tx beamforming for SRS resources to be transmitted on the basis of SRS-SpatialRelation Info included in the SRS-Config IE. Here, SRS-SpatialRelation Info is set for each SRS resource and indicates whether the same beamforming as that used for an SSB, a CSI-RS or an SRS will be applied for each SRS resource.

-   -   When SRS-SpatialRelationlnfo is set for SRS resources, the same         beamforming as that used for the SSB, CSI-RS or SRS is applied.         However, when SRS-SpatialRelationlnfo is not set for SRS         resources, the UE arbitrarily determines Tx beamforming and         transmits an SRS through the determined Tx beamforming.

Next, a beam failure recovery (BFR) procedure will be described.

In a beamformed system, radio link failure (RLF) may frequently occur due to rotation, movement or beamforming blockage of a UE. Accordingly, NR supports BFR in order to prevent frequent occurrence of RLF. BFR is similar to a radio link failure recovery procedure and can be supported when a UE knows new candidate beams. For beam failure detection, a BS configures beam failure detection reference signals for a UE, and the UE declares beam failure when the number of beam failure indications from the physical layer of the UE reaches a threshold set through RRC signaling within a period set through RRC signaling of the BS. After beam failure detection, the UE triggers beam failure recovery by initiating a random access procedure in a PCell and performs beam failure recovery by selecting a suitable beam. (When the BS provides dedicated random access resources for certain beams, these are prioritized by the UE). Completion of the aforementioned random access procedure is regarded as completion of beam failure recovery.

D. URLLC (Ultra-Reliable and Low Latency Communication)

URLLC transmission defined in NR can refer to (1) a relatively low traffic size, (2) a relatively low arrival rate, (3) extremely low latency requirements (e.g., 0.5 and 1 ms), (4) relatively short transmission duration (e.g., 2 OFDM symbols), (5) urgent services/messages, etc. In the case of UL, transmission of traffic of a specific type (e.g., URLLC) needs to be multiplexed with another transmission (e.g., eMBB) scheduled in advance in order to satisfy more stringent latency requirements. In this regard, a method of providing information indicating preemption of specific resources to a UE scheduled in advance and allowing a URLLC UE to use the resources for UL transmission is provided.

NR supports dynamic resource sharing between eMBB and URLLC. eMBB and URLLC services can be scheduled on non-overlapping time/frequency resources, and URLLC transmission can occur in resources scheduled for ongoing eMBB traffic. An eMBB UE may not ascertain whether PDSCH transmission of the corresponding UE has been partially punctured and the UE may not decode a PDSCH due to corrupted coded bits. In view of this, NR provides a preemption indication. The preemption indication may also be referred to as an interrupted transmission indication.

With regard to the preemption indication, a UE receives DownlinkPreemption IE through RRC signaling from a BS. When the UE is provided with DownlinkPreemption IE, the UE is configured with INT-RNTI provided by a parameter int-RNTI in DownlinkPreemption IE for monitoring of a PDCCH that conveys DCI format 2_1. The UE is additionally configured with a corresponding set of positions for fields in DCI format 2_1 according to a set of serving cells and positionInDCI by INT-ConfigurationPerServing Cell including a set of serving cell indexes provided by servingCellID, configured having an information payload size for DCI format 2_1 according to dci-Payloadsize, and configured with indication granularity of time-frequency resources according to timeFrequencySect.

The UE receives DCI format 2_1 from the BS on the basis of the DownlinkPreemption IE.

When the UE detects DCI format 2_1 for a serving cell in a configured set of serving cells, the UE can assume that there is no transmission to the UE in PRBs and symbols indicated by the DCI format 2_1 in a set of PRBs and a set of symbols in a last monitoring period before a monitoring period to which the DCI format 2_1 belongs. For example, the UE assumes that a signal in a time-frequency resource indicated according to preemption is not DL transmission scheduled therefor and decodes data on the basis of signals received in the remaining resource region.

E. mMTC (Massive MTC)

mMTC (massive Machine Type Communication) is one of 5G scenarios for supporting a hyper-connection service providing simultaneous communication with a large number of UEs. In this environment, a UE intermittently performs communication with a very low speed and mobility. Accordingly, a main goal of mMTC is operating a UE for a long time at a low cost. With respect to mMTC, 3GPP deals with MTC and NB (NarrowBand)-IoT.

mMTC has features such as repetitive transmission of a PDCCH, a PUCCH, a PDSCH (physical downlink shared channel), a PUSCH, etc., frequency hopping, retuning, and a guard period.

That is, a PUSCH (or a PUCCH (particularly, a long PUCCH) or a PRACH) including specific information and a PDSCH (or a PDCCH) including a response to the specific information are repeatedly transmitted. Repetitive transmission is performed through frequency hopping, and for repetitive transmission, (RF) retuning from a first frequency resource to a second frequency resource is performed in a guard period and the specific information and the response to the specific information can be transmitted/received through a narrowband (e.g., 6 resource blocks (RBs) or 1 RB).

F. Basic Operation Between Autonomous Vehicles Using 5G Communication

FIG. 3 shows an example of basic operations of an autonomous vehicle and a 5G network in a 5G communication system.

The autonomous vehicle transmits specific information to the 5G network (S1). The specific information may include autonomous driving related information. In addition, the 5G network can determine whether to remotely control the vehicle (S2). Here, the 5G network may include a server or a module which performs remote control related to autonomous driving. In addition, the 5G network can transmit information (or signal) related to remote control to the autonomous vehicle (S3).

G. Applied Operations Between Autonomous Vehicle and 5G Network in 5G Communication System

Hereinafter, the operation of an autonomous vehicle using 5G communication will be described in more detail with reference to wireless communication technology (BM procedure, URLLC, mMTC, etc.) described in FIGS. 1 and 2.

First, a basic procedure of an applied operation to which a method proposed by the present invention which will be described later and eMBB of 5G communication are applied will be described.

As in steps S1 and S3 of FIG. 3, the autonomous vehicle performs an initial access procedure and a random access procedure with the 5G network prior to step S1 of FIG. 3 in order to transmit/receive signals, information and the like to/from the 5G network.

More specifically, the autonomous vehicle performs an initial access procedure with the 5G network on the basis of an SSB in order to acquire DL synchronization and system information. A beam management (BM) procedure and a beam failure recovery procedure may be added in the initial access procedure, and quasi-co-location (QCL) relation may be added in a process in which the autonomous vehicle receives a signal from the 5G network.

In addition, the autonomous vehicle performs a random access procedure with the 5G network for UL synchronization acquisition and/or UL transmission. The 5G network can transmit, to the autonomous vehicle, a UL grant for scheduling transmission of specific information. Accordingly, the autonomous vehicle transmits the specific information to the 5G network on the basis of the UL grant. In addition, the 5G network transmits, to the autonomous vehicle, a DL grant for scheduling transmission of 5G processing results with respect to the specific information. Accordingly, the 5G network can transmit, to the autonomous vehicle, information (or a signal) related to remote control on the basis of the DL grant.

Next, a basic procedure of an applied operation to which a method proposed by the present invention which will be described later and URLLC of 5G communication are applied will be described.

As described above, an autonomous vehicle can receive DownlinkPreemption IE from the 5G network after the autonomous vehicle performs an initial access procedure and/or a random access procedure with the 5G network. Then, the autonomous vehicle receives DCI format 2_1 including a preemption indication from the 5G network on the basis of DownlinkPreemption IE. The autonomous vehicle does not perform (or expect or assume) reception of eMBB data in resources (PRBs and/or OFDM symbols) indicated by the preemption indication. Thereafter, when the autonomous vehicle needs to transmit specific information, the autonomous vehicle can receive a UL grant from the 5G network.

Next, a basic procedure of an applied operation to which a method proposed by the present invention which will be described later and mMTC of 5G communication are applied will be described.

Description will focus on parts in the steps of FIG. 3 which are changed according to application of mMTC.

In step S1 of FIG. 3, the autonomous vehicle receives a UL grant from the 5G network in order to transmit specific information to the 5G network. Here, the UL grant may include information on the number of repetitions of transmission of the specific information and the specific information may be repeatedly transmitted on the basis of the information on the number of repetitions. That is, the autonomous vehicle transmits the specific information to the 5G network on the basis of the UL grant. Repetitive transmission of the specific information may be performed through frequency hopping, the first transmission of the specific information may be performed in a first frequency resource, and the second transmission of the specific information may be performed in a second frequency resource. The specific information can be transmitted through a narrowband of 6 resource blocks (RBs) or 1 RB.

H. Autonomous Driving Operation Between Vehicles Using 5G Communication

FIG. 4 shows an example of a basic operation between vehicles using 5G communication.

A first vehicle transmits specific information to a second vehicle (S61). The second vehicle transmits a response to the specific information to the first vehicle (S62).

Meanwhile, a configuration of an applied operation between vehicles may depend on whether the 5G network is directly (sidelink communication transmission mode 3) or indirectly (sidelink communication transmission mode 4) involved in resource allocation for the specific information and the response to the specific information.

Next, an applied operation between vehicles using 5G communication will be described.

First, a method in which a 5G network is directly involved in resource allocation for signal transmission/reception between vehicles will be described.

The 5G network can transmit DCI format 5A to the first vehicle for scheduling of mode-3 transmission (PSCCH and/or PSSCH transmission). Here, a physical sidelink control channel (PSCCH) is a 5G physical channel for scheduling of transmission of specific information a physical sidelink shared channel (PSSCH) is a 5G physical channel for transmission of specific information. In addition, the first vehicle transmits SCI format 1 for scheduling of specific information transmission to the second vehicle over a PSCCH. Then, the first vehicle transmits the specific information to the second vehicle over a PSSCH.

Next, a method in which a 5G network is indirectly involved in resource allocation for signal transmission/reception will be described.

The first vehicle senses resources for mode-4 transmission in a first window. Then, the first vehicle selects resources for mode-4 transmission in a second window on the basis of the sensing result. Here, the first window refers to a sensing window and the second window refers to a selection window. The first vehicle transmits SCI format 1 for scheduling of transmission of specific information to the second vehicle over a PSCCH on the basis of the selected resources. Then, the first vehicle transmits the specific information to the second vehicle over a PSSCH.

The above-described 5G communication technology can be combined with methods proposed in the present invention which will be described later and applied or can complement the methods proposed in the present invention to make technical features of the methods concrete and clear.

Driving

(1) Exterior of Vehicle

FIG. 5 is a diagram showing a vehicle according to an embodiment of the present invention.

Referring to FIG. 5, a vehicle 10 according to an embodiment of the present invention is defined as a transportation means traveling on roads or railroads. The vehicle 10 includes a car, a train and a motorcycle. The vehicle 10 may include an internal-combustion engine vehicle having an engine as a power source, a hybrid vehicle having an engine and a motor as a power source, and an electric vehicle having an electric motor as a power source. The vehicle 10 may be a private own vehicle. The vehicle 10 may be a shared vehicle. The vehicle 10 may be an autonomous vehicle.

(2) Components of Vehicle

FIG. 6 is a control block diagram of the vehicle according to an embodiment of the present invention.

Referring to FIG. 6, the vehicle 10 may include a user interface device 200, an object detection device 210, a communication device 220, a driving operation device 230, a main ECU 240, a driving control device 250, an autonomous device 260, a sensing unit 270, and a position data generation device 280. The object detection device 210, the communication device 220, the driving operation device 230, the main ECU 240, the driving control device 250, the autonomous device 260, the sensing unit 270 and the position data generation device 280 may be realized by electronic devices which generate electric signals and exchange the electric signals from one another.

1) User Interface Device

The user interface device 200 is a device for communication between the vehicle 10 and a user. The user interface device 200 can receive user input and provide information generated in the vehicle 10 to the user. The vehicle 10 can realize a user interface (UI) or user experience (UX) through the user interface device 200. The user interface device 200 may include an input device, an output device and a user monitoring device.

2) Object Detection Device

The object detection device 210 can generate information about objects outside the vehicle 10. Information about an object can include at least one of information on presence or absence of the object, positional information of the object, information on a distance between the vehicle 10 and the object, and information on a relative speed of the vehicle 10 with respect to the object. The object detection device 210 can detect objects outside the vehicle 10. The object detection device 210 may include at least one sensor which can detect objects outside the vehicle 10. The object detection device 210 may include at least one of a camera, a radar, a lidar, an ultrasonic sensor and an infrared sensor. The object detection device 210 can provide data about an object generated on the basis of a sensing signal generated from a sensor to at least one electronic device included in the vehicle.

2.1) Camera

The camera can generate information about objects outside the vehicle 10 using images. The camera may include at least one lens, at least one image sensor, and at least one processor which is electrically connected to the image sensor, processes received signals and generates data about objects on the basis of the processed signals.

The camera may be at least one of a mono camera, a stereo camera and an around view monitoring (AVM) camera. The camera can acquire positional information of objects, information on distances to objects, or information on relative speeds with respect to objects using various image processing algorithms. For example, the camera can acquire information on a distance to an object and information on a relative speed with respect to the object from an acquired image on the basis of change in the size of the object over time. For example, the camera may acquire information on a distance to an object and information on a relative speed with respect to the object through a pin-hole model, road profiling, or the like. For example, the camera may acquire information on a distance to an object and information on a relative speed with respect to the object from a stereo image acquired from a stereo camera on the basis of disparity information.

The camera may be attached at a portion of the vehicle at which FOV (field of view) can be secured in order to photograph the outside of the vehicle. The camera may be disposed in proximity to the front windshield inside the vehicle in order to acquire front view images of the vehicle. The camera may be disposed near a front bumper or a radiator grill. The camera may be disposed in proximity to a rear glass inside the vehicle in order to acquire rear view images of the vehicle. The camera may be disposed near a rear bumper, a trunk or a tail gate. The camera may be disposed in proximity to at least one of side windows inside the vehicle in order to acquire side view images of the vehicle. Alternatively, the camera may be disposed near a side mirror, a fender or a door.

2.2) Radar

The radar can generate information about an object outside the vehicle using electromagnetic waves. The radar may include an electromagnetic wave transmitter, an electromagnetic wave receiver, and at least one processor which is electrically connected to the electromagnetic wave transmitter and the electromagnetic wave receiver, processes received signals and generates data about an object on the basis of the processed signals. The radar may be realized as a pulse radar or a continuous wave radar in terms of electromagnetic wave emission. The continuous wave radar may be realized as a frequency modulated continuous wave (FMCW) radar or a frequency shift keying (FSK) radar according to signal waveform. The radar can detect an object through electromagnetic waves on the basis of TOF (Time of Flight) or phase shift and detect the position of the detected object, a distance to the detected object and a relative speed with respect to the detected object. The radar may be disposed at an appropriate position outside the vehicle in order to detect objects positioned in front of, behind or on the side of the vehicle.

2.3 Lidar

The lidar can generate information about an object outside the vehicle 10 using a laser beam. The lidar may include a light transmitter, a light receiver, and at least one processor which is electrically connected to the light transmitter and the light receiver, processes received signals and generates data about an object on the basis of the processed signal. The lidar may be realized according to TOF or phase shift. The lidar may be realized as a driven type or a non-driven type. A driven type lidar may be rotated by a motor and detect an object around the vehicle 10. A non-driven type lidar may detect an object positioned within a predetermined range from the vehicle according to light steering. The vehicle 10 may include a plurality of non-drive type lidars. The lidar can detect an object through a laser beam on the basis of TOF (Time of Flight) or phase shift and detect the position of the detected object, a distance to the detected object and a relative speed with respect to the detected object. The lidar may be disposed at an appropriate position outside the vehicle in order to detect objects positioned in front of, behind or on the side of the vehicle.

3) Communication Device

The communication device 220 can exchange signals with devices disposed outside the vehicle 10. The communication device 220 can exchange signals with at least one of infrastructure (e.g., a server and a broadcast station), another vehicle and a terminal. The communication device 220 may include a transmission antenna, a reception antenna, and at least one of a radio frequency (RF) circuit and an RF element which can implement various communication protocols in order to perform communication.

For example, the communication device can exchange signals with external devices on the basis of C-V2X (Cellular V2X). For example, C-V2X can include sidelink communication based on LTE and/or sidelink communication based on NR. Details related to C-V2X will be described later.

For example, the communication device can exchange signals with external devices on the basis of DSRC (Dedicated Short Range Communications) or WAVE (Wireless Access in Vehicular Environment) standards based on IEEE 802.11p PHY/MAC layer technology and IEEE 1609 Network/Transport layer technology. DSRC (or WAVE standards) is communication specifications for providing an intelligent transport system (ITS) service through short-range dedicated communication between vehicle-mounted devices or between a roadside device and a vehicle-mounted device. DSRC may be a communication scheme that can use a frequency of 5.9 GHz and have a data transfer rate in the range of 3 Mbps to 27 Mbps. IEEE 802.11p may be combined with IEEE 1609 to support DSRC (or WAVE standards).

The communication device of the present invention can exchange signals with external devices using only one of C-V2X and DSRC. Alternatively, the communication device of the present invention can exchange signals with external devices using a hybrid of C-V2X and DSRC.

4) Driving Operation Device

The driving operation device 230 is a device for receiving user input for driving. In a manual mode, the vehicle 10 may be driven on the basis of a signal provided by the driving operation device 230. The driving operation device 230 may include a steering input device (e.g., a steering wheel), an acceleration input device (e.g., an acceleration pedal) and a brake input device (e.g., a brake pedal).

5) Main ECU

The main ECU 240 can control the overall operation of at least one electronic device included in the vehicle 10.

6) Driving Control Device

The driving control device 250 is a device for electrically controlling various vehicle driving devices included in the vehicle 10. The driving control device 250 may include a power train driving control device, a chassis driving control device, a door/window driving control device, a safety device driving control device, a lamp driving control device, and an air-conditioner driving control device. The power train driving control device may include a power source driving control device and a transmission driving control device. The chassis driving control device may include a steering driving control device, a brake driving control device and a suspension driving control device. Meanwhile, the safety device driving control device may include a seat belt driving control device for seat belt control.

The driving control device 250 includes at least one electronic control device (e.g., a control ECU (Electronic Control Unit)).

The driving control device 250 can control vehicle driving devices on the basis of signals received by the autonomous device 260. For example, the driving control device 250 can control a power train, a steering device and a brake device on the basis of signals received by the autonomous device 260.

7) Autonomous Device

The autonomous device 260 can generate a route for self-driving on the basis of acquired data. The autonomous device 260 can generate a driving plan for traveling along the generated route. The autonomous device 260 can generate a signal for controlling movement of the vehicle according to the driving plan. The autonomous device 260 can provide the signal to the driving control device 250.

The autonomous device 260 can implement at least one ADAS (Advanced Driver Assistance System) function. The ADAS can implement at least one of ACC (Adaptive Cruise Control), AEB (Autonomous Emergency Braking), FCW (Forward Collision Warning), LKA (Lane Keeping Assist), LCA (Lane Change Assist), TFA (Target Following Assist), BSD (Blind Spot Detection), HBA (High Beam Assist), APS (Auto Parking System), a PD collision warning system, TSR (Traffic Sign Recognition), TSA (Traffic Sign Assist), NV (Night Vision), DSM (Driver Status Monitoring) and TJA (Traffic Jam Assist).

The autonomous device 260 can perform switching from a self-driving mode to a manual driving mode or switching from the manual driving mode to the self-driving mode. For example, the autonomous device 260 can switch the mode of the vehicle 10 from the self-driving mode to the manual driving mode or from the manual driving mode to the self-driving mode on the basis of a signal received from the user interface device 200.

8) Sensing Unit

The sensing unit 270 can detect a state of the vehicle. The sensing unit 270 may include at least one of an internal measurement unit (IMU) sensor, a collision sensor, a wheel sensor, a speed sensor, an inclination sensor, a weight sensor, a heading sensor, a position module, a vehicle forward/backward movement sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor, a temperature sensor, a humidity sensor, an ultrasonic sensor, an illumination sensor, and a pedal position sensor. Further, the IMU sensor may include one or more of an acceleration sensor, a gyro sensor and a magnetic sensor.

The sensing unit 270 can generate vehicle state data on the basis of a signal generated from at least one sensor. Vehicle state data may be information generated on the basis of data detected by various sensors included in the vehicle. The sensing unit 270 may generate vehicle attitude data, vehicle motion data, vehicle yaw data, vehicle roll data, vehicle pitch data, vehicle collision data, vehicle orientation data, vehicle angle data, vehicle speed data, vehicle acceleration data, vehicle tilt data, vehicle forward/backward movement data, vehicle weight data, battery data, fuel data, tire pressure data, vehicle internal temperature data, vehicle internal humidity data, steering wheel rotation angle data, vehicle external illumination data, data of a pressure applied to an acceleration pedal, data of a pressure applied to a brake panel, etc.

9) Position Data Generation Device

The position data generation device 280 can generate position data of the vehicle 10. The position data generation device 280 may include at least one of a global positioning system (GPS) and a differential global positioning system (DGPS). The position data generation device 280 can generate position data of the vehicle 10 on the basis of a signal generated from at least one of the GPS and the DGPS. According to an embodiment, the position data generation device 280 can correct position data on the basis of at least one of the inertial measurement unit (IMU) sensor of the sensing unit 270 and the camera of the object detection device 210. The position data generation device 280 may also be called a global navigation satellite system (GNSS).

The vehicle 10 may include an internal communication system 50. The plurality of electronic devices included in the vehicle 10 can exchange signals through the internal communication system 50. The signals may include data. The internal communication system 50 can use at least one communication protocol (e.g., CAN, LIN, FlexRay, MOST or Ethernet).

(3) Components of Autonomous Device

FIG. 7 is a control block diagram of the autonomous device according to an embodiment of the present invention.

Referring to FIG. 7, the autonomous device 260 may include a memory 140, a processor 170, an interface 180 and a power supply 190.

The memory 140 is electrically connected to the processor 170. The memory 140 can store basic data with respect to units, control data for operation control of units, and input/output data. The memory 140 can store data processed in the processor 170. Hardware-wise, the memory 140 can be configured as at least one of a ROM, a RAM, an EPROM, a flash drive and a hard drive. The memory 140 can store various types of data for overall operation of the autonomous device 260, such as a program for processing or control of the processor 170. The memory 140 may be integrated with the processor 170. According to an embodiment, the memory 140 may be categorized as a subcomponent of the processor 170.

The interface 180 can exchange signals with at least one electronic device included in the vehicle 10 in a wired or wireless manner. The interface 180 can exchange signals with at least one of the object detection device 210, the communication device 220, the driving operation device 230, the main ECU 240, the driving control device 250, the sensing unit 270 and the position data generation device 280 in a wired or wireless manner. The interface 180 can be configured using at least one of a communication module, a terminal, a pin, a cable, a port, a circuit, an element and a device.

The power supply 190 can provide power to the autonomous device 260. The power supply 190 can be provided with power from a power source (e.g., a battery) included in the vehicle 10 and supply the power to each unit of the autonomous device 260. The power supply 190 can operate according to a control signal supplied from the main ECU 240. The power supply 190 may include a switched-mode power supply (SMPS).

The processor 170 can be electrically connected to the memory 140, the interface 180 and the power supply 190 and exchange signals with these components. The processor 170 can be realized using at least one of application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, micro-controllers, microprocessors, and electronic units for executing other functions.

The processor 170 can be operated by power supplied from the power supply 190. The processor 170 can receive data, process the data, generate a signal and provide the signal while power is supplied thereto.

The processor 170 can receive information from other electronic devices included in the vehicle 10 through the interface 180. The processor 170 can provide control signals to other electronic devices in the vehicle 10 through the interface 180.

The autonomous device 260 may include at least one printed circuit board (PCB). The memory 140, the interface 180, the power supply 190 and the processor 170 may be electrically connected to the PCB.

(4) Operation of Autonomous Device

FIG. 8 is a diagram showing a signal flow in an autonomous vehicle according to an embodiment of the present invention.

1) Reception Operation

Referring to FIG. 8, the processor 170 can perform a reception operation. The processor 170 can receive data from at least one of the object detection device 210, the communication device 220, the sensing unit 270 and the position data generation device 280 through the interface 180. The processor 170 can receive object data from the object detection device 210. The processor 170 can receive HD map data from the communication device 220. The processor 170 can receive vehicle state data from the sensing unit 270. The processor 170 can receive position data from the position data generation device 280.

2) Processing/Determination Operation

The processor 170 can perform a processing/determination operation. The processor 170 can perform the processing/determination operation on the basis of traveling situation information. The processor 170 can perform the processing/determination operation on the basis of at least one of object data, HD map data, vehicle state data and position data.

2.1) Driving Plan Data Generation Operation

The processor 170 can generate driving plan data. For example, the processor 170 may generate electronic horizon data. The electronic horizon data can be understood as driving plan data in a range from a position at which the vehicle 10 is located to a horizon. The horizon can be understood as a point a predetermined distance before the position at which the vehicle 10 is located on the basis of a predetermined traveling route. The horizon may refer to a point at which the vehicle can arrive after a predetermined time from the position at which the vehicle 10 is located along a predetermined traveling route.

The electronic horizon data can include horizon map data and horizon path data.

2.1.1) Horizon Map Data

The horizon map data may include at least one of topology data, road data, HD map data and dynamic data. According to an embodiment, the horizon map data may include a plurality of layers. For example, the horizon map data may include a first layer that matches the topology data, a second layer that matches the road data, a third layer that matches the HD map data, and a fourth layer that matches the dynamic data. The horizon map data may further include static object data.

The topology data may be explained as a map created by connecting road centers. The topology data is suitable for approximate display of a location of a vehicle and may have a data form used for navigation for drivers. The topology data may be understood as data about road information other than information on driveways. The topology data may be generated on the basis of data received from an external server through the communication device 220. The topology data may be based on data stored in at least one memory included in the vehicle 10.

The road data may include at least one of road slope data, road curvature data and road speed limit data. The road data may further include no-passing zone data. The road data may be based on data received from an external server through the communication device 220. The road data may be based on data generated in the object detection device 210.

The HD map data may include detailed topology information in units of lanes of roads, connection information of each lane, and feature information for vehicle localization (e.g., traffic signs, lane marking/attribute, road furniture, etc.). The HD map data may be based on data received from an external server through the communication device 220.

The dynamic data may include various types of dynamic information which can be generated on roads. For example, the dynamic data may include construction information, variable speed road information, road condition information, traffic information, moving object information, etc. The dynamic data may be based on data received from an external server through the communication device 220. The dynamic data may be based on data generated in the object detection device 210.

The processor 170 can provide map data in a range from a position at which the vehicle 10 is located to the horizon.

2.1.2) Horizon Path Data

The horizon path data may be explained as a trajectory through which the vehicle 10 can travel in a range from a position at which the vehicle 10 is located to the horizon. The horizon path data may include data indicating a relative probability of selecting a road at a decision point (e.g., a fork, a junction, a crossroad, or the like). The relative probability may be calculated on the basis of a time taken to arrive at a final destination. For example, if a time taken to arrive at a final destination is shorter when a first road is selected at a decision point than that when a second road is selected, a probability of selecting the first road can be calculated to be higher than a probability of selecting the second road.

The horizon path data can include a main path and a sub-path. The main path may be understood as a trajectory obtained by connecting roads having a high relative probability of being selected. The sub-path can be branched from at least one decision point on the main path. The sub-path may be understood as a trajectory obtained by connecting at least one road having a low relative probability of being selected at at least one decision point on the main path.

3) Control Signal Generation Operation

The processor 170 can perform a control signal generation operation. The processor 170 can generate a control signal on the basis of the electronic horizon data. For example, the processor 170 may generate at least one of a power train control signal, a brake device control signal and a steering device control signal on the basis of the electronic horizon data.

The processor 170 can transmit the generated control signal to the driving control device 250 through the interface 180. The driving control device 250 can transmit the control signal to at least one of a power train 251, a brake device 252 and a steering device 254.

Cabin

FIG. 9 is a diagram showing the interior of the vehicle according to an embodiment of the present invention. FIG. 10 is a block diagram referred to in description of a cabin system for a vehicle according to an embodiment of the present invention.

(1) Components of Cabin

Referring to FIGS. 9 and 10, a cabin system 300 for a vehicle (hereinafter, a cabin system) can be defined as a convenience system for a user who uses the vehicle 10. The cabin system 300 can be explained as a high-end system including a display system 350, a cargo system 355, a seat system 360 and a payment system 365. The cabin system 300 may include a main controller 370, a memory 340, an interface 380, a power supply 390, an input device 310, an imaging device 320, a communication device 330, the display system 350, the cargo system 355, the seat system 360 and the payment system 365. The cabin system 300 may further include components in addition to the components described in this specification or may not include some of the components described in this specification according to embodiments.

1) Main Controller

The main controller 370 can be electrically connected to the input device 310, the communication device 330, the display system 350, the cargo system 355, the seat system 360 and the payment system 365 and exchange signals with these components. The main controller 370 can control the input device 310, the communication device 330, the display system 350, the cargo system 355, the seat system 360 and the payment system 365. The main controller 370 may be realized using at least one of application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, micro-controllers, microprocessors, and electronic units for executing other functions.

The main controller 370 may determine an intention of a user related to the functions of the vehicle 10 to control a screen for operating any one of the functions of the vehicle 10 to be output to the display system 350. The intention of the user is related to a selection of any one of the functions of the vehicle 10.

Specifically, the main controller 370 may determine the intention of the user by using any one of sensor data of the user related to the selection of any one of the functions of the vehicle 10, first context data which is pre-learned in relation to a situation in which the user selects any one of the functions of the vehicle 10, and second context data stored in a server that communicates with a plurality of other vehicles 10 to learn a general situation in which any one of the functions of the vehicle is selected.

According to an exemplary embodiment, the functions of the vehicle 10 may include at least one of a function of manipulating a component provided inside or outside the vehicle 10 or a function of manipulating an application installed in the vehicle 10.

According to an exemplary embodiment, the sensor data may be sensor data of at least one of a gaze, an operation, or a voice of the user, or a combination of each sensor data. As an example, a function output on the screen may be determined according to the gaze of the user. As another example, when a user's nodding motion is recognized during playback of a music player, a screen including a button for adjusting a volume of music may be output.

According to an exemplary embodiment, the main controller 370 may control a screen of a manipulation target related to information obtained through the sensor data to be output. The manipulation target may be any one of the components provided in the vehicle 10 or any one of the applications installed in the vehicle 10.

The information obtained through the sensor data may be information about at least one of an internal environment of the vehicle 10, a posture of the user, driving related information, or a currently operating application.

According to an exemplary embodiment, the information related to the internal environment of the vehicle 10 may include at least one of temperature, humidity, and an air pollution degree in the vehicle 10.

The information related to the posture of the user may include at least one of a backrest angle of a seat seated by the user, a neckrest angle of the seat, a height of the seat, and a position of the seat. However, the information related to the posture of the user is not limited thereto, and may include information about a component affecting the posture of the user among the components provided in the vehicle 10.

The driving related information may include at least one of a current traffic situation, a current location, and a driving destination.

The information related to the currently operating application may include information related to an operation of at least one of the music player, the navigation, the radio, and the telephone. However, the information related to the application is not limited thereto, and may include information related to the operation of all other types of applications installed in the vehicle 10.

According to an exemplary embodiment, when a location of any one of the components included in the vehicle 10 is included in a specific area within the vehicle 10 determined according to the gaze of the user, the main controller 370 may control a screen for operating the corresponding component to be output. Specifically, when the user stares at a room mirror while driving, the main controller 370 may control the display system 350 so that a screen for adjusting an angle of the room mirror is output.

According to an exemplary embodiment, the main controller 370 may apply data used to determine the intention of the user in a preset order.

Specifically, the main controller 370 may preferentially use the sensor data of the user related to the selection of any one of the functions of the vehicle 10. When the manipulation target related to the information obtained through the sensor data is not detected, the main controller 370 may determine the intention of the user by using the first context data.

The first context data may be data generated by learning context data related to a situation when the user uses any one of the functions of the vehicle while driving or using the vehicle 10. The main controller 370 may control the display system 350 to output a screen for manipulating a function related to a current situation among the functions of the vehicle.

When the function related to the current situation is not detected, the main controller 370 may determine the intention of the user by receiving the second context data stored in the server.

The server may be a big data-based learning server that communicates with a plurality of other vehicles 10 to learn a general situation in which any one of the functions of the vehicle 10 is selected, and may store the second context data as the learning result. The main controller 370 may determine the intention of the user by receiving the second context data from the server through the communication device 330.

The main controller 370 may control to output a screen for manipulating a function generally used in relation to the current situation among the functions of the vehicle 10 using the second context data. The second context data may include information indicating a function of the vehicle 10 which is generally used in a specific situation among the functions of the vehicle 10.

According to an exemplary embodiment, the main controller 370 may control the screen to be output differently according to the determined intention of the user. Specifically, the main controller 370 may control the display system 350 to differently display the form of the graphic object included in the screen according to the determined intention of the user. The graphic object refers to an object displayed on one area of the screen in order to manipulate any one of the functions of the vehicle 10.

According to an exemplary embodiment, the main controller 370 may control the display system 350 to detect only a touch input determined according to the form of the graphic object.

According to an exemplary embodiment, the main controller 370 may control the manipulation to be performed differently according to a type of the detected touch input even if the graphic object has the same form. As a specific example, when a phone application is operating in the vehicle 10, the main controller 370 may control a manipulation of the phone application to reject a call reception for a swipe touch and to accept the call reception for a short touch input.

According to an exemplary embodiment, the main controller 370 may control the display system 350 and the seat system 360 to output a guide message for the screen to be output. The guide message may include at least one of information on whether or not the output screen is updated, information on a function output on the screen among functions of the vehicle, and information on a manipulation result of the function output on the screen.

The main controller 370 may control the display system 350 or the seat system 360 according to the information included in the guide message. Specifically, the main controller 370 may control the guide message to be output in at least one of an audio signal, a haptic signal for transmitting vibration or pressure to the user, and an image signal according to the information included in the guide message. The audio signal may be an ultrasound.

According to an exemplary embodiment, the main controller 370 may also display a screen for manipulating two or more functions related to the current situation among the functions of the vehicle 10. In this case, the main controller 370 may control the display system 350 to output two or more screens or to output one screen divided into two or more areas. In addition, the main controller 370 may display two or more functions among the functions of the vehicle 10 in the order of highest relevance.

According to an exemplary embodiment, the main controller 370 may be separately referred to as a control unit in terms of determining the intention of the user and performing a control operation accordingly.

The main controller 370 may be configured as at least one sub-controller. The main controller 370 may include a plurality of sub-controllers according to an embodiment. The plurality of sub-controllers may individually control the devices and systems included in the cabin system 300. The devices and systems included in the cabin system 300 may be grouped by function or grouped on the basis of seats on which a user can sit.

The main controller 370 may include at least one processor 371. Although FIG. 6 illustrates the main controller 370 including a single processor 371, the main controller 371 may include a plurality of processors. The processor 371 may be categorized as one of the above-described sub-controllers.

The processor 371 can receive signals, information or data from a user terminal through the communication device 330. The user terminal can transmit signals, information or data to the cabin system 300.

The processor 371 can identify a user on the basis of image data received from at least one of an internal camera and an external camera included in the imaging device. The processor 371 can identify a user by applying an image processing algorithm to the image data. For example, the processor 371 may identify a user by comparing information received from the user terminal with the image data. For example, the information may include at least one of route information, body information, fellow passenger information, baggage information, position information, preferred content information, preferred food information, disability information and use history information of a user.

The main controller 370 may include an artificial intelligence (AI) agent 372. The AI agent 372 can perform machine learning on the basis of data acquired through the input device 310.

The artificial intelligence agent 372 may learn the first context data related to the functions of the vehicle 10. Specifically, the artificial intelligence agent 372 may learn the first context data related to a situation when the user uses any one of the functions of the vehicle 10.

The first context data related to a situation when the user uses any one of the functions of the vehicle 10 may include at least one of sensor data of the user, a function of the vehicle 10 manipulated by the user, weather, internal temperature of the vehicle 10, humidity, date, and information about the voice of the user. However, the context data is not limited thereto, and may include all information on the inside or outside of the vehicle 10 which may specify a situation when a specific function is used among the functions of the vehicle 10 and information on a state of the user.

The artificial intelligence agent 372 may control the display system 350 to output the specific function based on the first context data when a situation is the same as or similar to where the specific function was used.

The AI agent 371 can control at least one of the display system 350, the cargo system 355, the seat system 360 and the payment system 365 on the basis of machine learning results.

2) Essential Components

The memory 340 is electrically connected to the main controller 370. The memory 340 can store basic data about units, control data for operation control of units, and input/output data. The memory 340 can store data processed in the main controller 370. Hardware-wise, the memory 340 may be configured using at least one of a ROM, a RAM, an EPROM, a flash drive and a hard drive. The memory 340 can store various types of data for the overall operation of the cabin system 300, such as a program for processing or control of the main controller 370. The memory 340 may be integrated with the main controller 370.

The interface 380 can exchange signals with at least one electronic device included in the vehicle 10 in a wired or wireless manner. The interface 380 may be configured using at least one of a communication module, a terminal, a pin, a cable, a port, a circuit, an element and a device.

The power supply 390 can provide power to the cabin system 300. The power supply 390 can be provided with power from a power source (e.g., a battery) included in the vehicle 10 and supply the power to each unit of the cabin system 300. The power supply 390 can operate according to a control signal supplied from the main controller 370. For example, the power supply 390 may be implemented as a switched-mode power supply (SMPS).

The cabin system 300 may include at least one printed circuit board (PCB). The main controller 370, the memory 340, the interface 380 and the power supply 390 may be mounted on at least one PCB.

3) Input Device

The input device 310 can receive a user input. The input device 310 can convert the user input into an electrical signal. The electrical signal converted by the input device 310 can be converted into a control signal and provided to at least one of the display system 350, the cargo system 355, the seat system 360 and the payment system 365. The main controller 370 or at least one processor included in the cabin system 300 can generate a control signal based on an electrical signal received from the input device 310.

The input device 310 may obtain the sensor data of the user related to the selection of any one of the functions of the vehicle 10. Specifically, the input device 310 may include a sensor for obtaining the sensor data of at least one of a gaze, an operation, or a voice of the user.

The input device 310 may include at least one sensor of a proximity sensor, an illumination sensor, a touch sensor, an acceleration sensor, a magnetic sensor, a G-sensor, a gyroscope sensor, a motion sensor, a RGB sensor, an infrared (IR) sensor, a finger scan sensor, an ultrasonic sensor, an optical sensor, an audio sensor (e.g., a microphone), a battery gauge, an environment sensor (e.g., a barometer, a hygrometer, a thermometer, a radioactivity detection sensor, a heat detection sensor, a gas detection sensor, etc.), a chemical sensor (e.g., an electronic nose, a healthcare sensor, a biometric sensor, etc.), and an orientation sensor to obtain the sensor data.

The component of obtaining the sensor data in the input device 310 may be implemented as a single component or may be implemented by being divided into separate components. Specifically, the component of obtaining the sensor data of the user related to the selection of any one of the functions of the vehicle 10 in the input device 310 may be referred to as a sensor unit.

The input device 310 may include at least one of a touch input unit, a gesture input unit, a mechanical input unit and a voice input unit. The touch input unit can convert a user's touch input into an electrical signal. The touch input unit may include at least one touch sensor for detecting a user's touch input. According to an embodiment, the touch input unit can realize a touch screen by integrating with at least one display included in the display system 350. Such a touch screen can provide both an input interface and an output interface between the cabin system 300 and a user.

According to an exemplary embodiment, the touch input unit may be disposed on one area of the steering wheel of the vehicle 10 to output a screen for manipulating at least one of the functions of the vehicle 10. A plurality of touch input units may be disposed on the steering wheel.

According to an exemplary embodiment, the touch input unit may detect only a specific touch input according to the form of the graphic object displayed on the output screen among the touch inputs of the user under the control of the main controller 370.

The specific touch input may be determined according to the form of the graphic object, and may be any one of a short touch, a long touch, a multi touch, a drag touch, a flick touch, a pinch-in touch, a pinch-out touch, a swipe touch, and a hovering touch on the touch screen, or a combination thereof.

The short touch may be referred to as a tab as an operation of shortly pressing and releasing a screen. The flick touch is an operation of putting the finger on the screen and then quickly moving and releasing the finger to quickly scroll or rotate the screen. The pinch touch is an operation of moving two fingers in different directions in a state in which the two fingers touch on the screen. An input according to a distance of the two fingers is generated. When the two fingers are gathered, the pinch touch may be referred to as a pinch-in touch, and when the two fingers are separated, the pinch touch may be referred to as a pinch-out touch. The hovering touch refers to a touch that is recognized according to a distance between the finger and the screen, instead of actually being touched by the finger on the screen.

According to an exemplary embodiment, the manipulation result may be provided differently to the type of the touch input.

Specifically, when the swipe touch is performed in a horizontal direction with one hand, a signal may be generated to perform a manipulation for selecting a previous song or a next song in the case of the music player, a manipulation for moving a channel in the case of a radio, and a manipulation for changing lanes in the case of autonomous driving.

In the case of the pinch-in touch or the pinch-out touch, a signal is generated that the navigation manipulates to enlarge or reduce the output map, and in the case of other applications, no signal may be generated.

When the swipe touch is performed in a vertical direction, deceleration/acceleration may be manipulated during autonomous driving, the music volume may be adjusted in the case of the music player, and the temperature may be adjusted in the case of an air conditioner (or a heater).

When the drag touch is performed with two fingers, a signal indicating an operation of a wiper may be generated.

The gesture input unit can convert a user's gesture input into an electrical signal. The gesture input unit may include at least one of an infrared sensor and an image sensor for detecting a user's gesture input. According to an embodiment, the gesture input unit can detect a user's three-dimensional gesture input. To this end, the gesture input unit may include a plurality of light output units for outputting infrared light or a plurality of image sensors. The gesture input unit may detect a user's three-dimensional gesture input using TOF (Time of Flight), structured light or disparity. The mechanical input unit can convert a user's physical input (e.g., press or rotation) through a mechanical device into an electrical signal. The mechanical input unit may include at least one of a button, a dome switch, a jog wheel and a jog switch. Meanwhile, the gesture input unit and the mechanical input unit may be integrated. For example, the input device 310 may include a jog dial device that includes a gesture sensor and is formed such that it can be inserted/ejected into/from a part of a surrounding structure (e.g., at least one of a seat, an armrest and a door). When the jog dial device is parallel to the surrounding structure, the jog dial device can serve as a gesture input unit. When the jog dial device is protruded from the surrounding structure, the jog dial device can serve as a mechanical input unit. The voice input unit can convert a user's voice input into an electrical signal. The voice input unit may include at least one microphone. The voice input unit may include a beam forming MIC.

4) Imaging Device

The imaging device 320 can include at least one camera. The imaging device 320 may include at least one of an internal camera and an external camera. The internal camera can capture an image of the inside of the cabin. The external camera can capture an image of the outside of the vehicle. The internal camera can acquire an image of the inside of the cabin. The imaging device 320 may include at least one internal camera. It is desirable that the imaging device 320 include as many cameras as the number of passengers who can ride in the vehicle. The imaging device 320 can provide an image acquired by the internal camera. The main controller 370 or at least one processor included in the cabin system 300 can detect a motion of a user on the basis of an image acquired by the internal camera, generate a signal on the basis of the detected motion and provide the signal to at least one of the display system 350, the cargo system 355, the seat system 360 and the payment system 365. The external camera can acquire an image of the outside of the vehicle. The imaging device 320 may include at least one external camera. It is desirable that the imaging device 320 include as many cameras as the number of doors through which passengers ride in the vehicle. The imaging device 320 can provide an image acquired by the external camera. The main controller 370 or at least one processor included in the cabin system 300 can acquire user information on the basis of the image acquired by the external camera. The main controller 370 or at least one processor included in the cabin system 300 can authenticate a user or acquire body information (e.g., height information, weight information, etc.), fellow passenger information and baggage information of a user on the basis of the user information.

5) Communication Device

The communication device 330 can exchange signals with external devices in a wireless manner. The communication device 330 can exchange signals with external devices through a network or directly exchange signals with external devices.

The communication device 330 may receive the second context data related to a general situation in which any one of the functions of the vehicle 10 is selected from the server. The server may communicate with a plurality of other vehicles 10 to learn the general situation in which any one of the functions of the vehicle 10 is selected, and may store the second context data. The communication device 330 may receive the second context data from the server under the control of the main controller 370.

External devices may include at least one of a server, a mobile terminal and another vehicle. The communication device 330 may exchange signals with at least one user terminal. The communication device 330 may include an antenna and at least one of an RF circuit and an RF element which can implement at least one communication protocol in order to perform communication. According to an embodiment, the communication device 330 may use a plurality of communication protocols. The communication device 330 may switch communication protocols according to a distance to a mobile terminal.

For example, the communication device can exchange signals with external devices on the basis of C-V2X (Cellular V2X). For example, C-V2X may include sidelink communication based on LTE and/or sidelink communication based on NR. Details related to C-V2X will be described later.

For example, the communication device can exchange signals with external devices on the basis of DSRC (Dedicated Short Range Communications) or WAVE (Wireless Access in Vehicular Environment) standards based on IEEE 802.11p PHY/MAC layer technology and IEEE 1609 Network/Transport layer technology. DSRC (or WAVE standards) is communication specifications for providing an intelligent transport system (ITS) service through short-range dedicated communication between vehicle-mounted devices or between a roadside device and a vehicle-mounted device. DSRC may be a communication scheme that can use a frequency of 5.9 GHz and have a data transfer rate in the range of 3 Mbps to 27 Mbps. IEEE 802.11p may be combined with IEEE 1609 to support DSRC (or WAVE standards).

The communication device of the present invention can exchange signals with external devices using only one of C-V2X and DSRC. Alternatively, the communication device of the present invention can exchange signals with external devices using a hybrid of C-V2X and DSRC.

6) Display System

The display system 350 can display graphic objects. The display system 350 may include at least one display device. For example, the display system 350 may include a first display device 410 for common use and a second display device 420 for individual use.

The display system 350 may output a screen in relation to the functions of the vehicle 10.

According to an exemplary embodiment, the display system 350 may output a screen for manipulating any one of the functions of the vehicle 10 under the control of the main controller 370. The display system 350 may be implemented as a touch screen integrally formed with the touch input unit and disposed on one region of the steering wheel of the vehicle 10. In this case, at least one graphic object for manipulation of the user may be displayed on one area of the output screen. The steering wheel may include a plurality of touch screens.

The graphic object may be displayed in the form of any one of a button, a slide bar, and a jog dial. However, the graphic object is not limited thereto, and may be displayed in other forms that may intuitively represent information for manipulating each function of the vehicle 10.

The display system 350 may differently display the form of the graphic object according to the function of the vehicle 10. Specifically, the display system 350 may differently the form of the graphic object according to the intention of the user determined by the main controller 370.

According to an exemplary embodiment, the display system 350 may output a guide message related to the output screen. As a specific example, the display system 350 may include a speaker and may output the guide message using at least one of an audio signal or an image signal under the control of the main controller 370.

The audio signal may be an ultrasound. The display system 350 may directly transmit the guide message only to the ears of the user who drives the vehicle 10 using the ultrasound. In this case, only the driver may receive the guide message without disturbing the passenger and may also hear outside noise.

The display system 350 may be formed in one component to output a screen related to the function of the vehicle 10 and output a guide message for the output screen. However, the display system 350 is not limited thereto and may be implemented by being divided into separate components for each function. Specifically, according to an exemplary embodiment, the display system 350 may include a touch screen that outputs a screen for manipulating at least one of the functions of the vehicle 10, and a message output unit that outputs the guide message related to the output screen.

The display system 350 may output the guide message in a head-up display (HUD) manner in which an image is projected on a front window of the vehicle 10.

6.1) Common Display Device

The first display device 410 may include at least one display 411 which outputs visual content. The display 411 included in the first display device 410 may be realized by at least one of a flat panel display, a curved display, a rollable display and a flexible display. For example, the first display device 410 may include a first display 411 which is positioned behind a seat and formed to be inserted/ejected into/from the cabin, and a first mechanism for moving the first display 411. The first display 411 may be disposed such that it can be inserted/ejected into/from a slot formed in a seat main frame. According to an embodiment, the first display device 410 may further include a flexible area control mechanism. The first display may be formed to be flexible and a flexible area of the first display may be controlled according to user position. For example, the first display device 410 may be disposed on the ceiling inside the cabin and include a second display formed to be rollable and a second mechanism for rolling or unrolling the second display. The second display may be formed such that images can be displayed on both sides thereof. For example, the first display device 410 may be disposed on the ceiling inside the cabin and include a third display formed to be flexible and a third mechanism for bending or unbending the third display. According to an embodiment, the display system 350 may further include at least one processor which provides a control signal to at least one of the first display device 410 and the second display device 420. The processor included in the display system 350 can generate a control signal on the basis of a signal received from at last one of the main controller 370, the input device 310, the imaging device 320 and the communication device 330.

A display area of a display included in the first display device 410 may be divided into a first area 411 a and a second area 411 b. The first area 411 a can be defined as a content display area. For example, the first area 411 may display at least one of graphic objects corresponding to can display entertainment content (e.g., movies, sports, shopping, food, etc.), video conferences, food menu and augmented reality screens. The first area 411 a may display graphic objects corresponding to traveling situation information of the vehicle 10. The traveling situation information may include at least one of object information outside the vehicle, navigation information and vehicle state information. The object information outside the vehicle may include information on presence or absence of an object, positional information of an object, information on a distance between the vehicle and an object, and information on a relative speed of the vehicle with respect to an object. The navigation information may include at least one of map information, information on a set destination, route information according to setting of the destination, information on various objects on a route, lane information and information on the current position of the vehicle. The vehicle state information may include vehicle attitude information, vehicle speed information, vehicle tilt information, vehicle weight information, vehicle orientation information, vehicle battery information, vehicle fuel information, vehicle tire pressure information, vehicle steering information, vehicle indoor temperature information, vehicle indoor humidity information, pedal position information, vehicle engine temperature information, etc. The second area 411 b can be defined as a user interface area. For example, the second area 411 b may display an AI agent screen. The second area 411 b may be located in an area defined by a seat frame according to an embodiment. In this case, a user can view content displayed in the second area 411 b between seats. The first display device 410 may provide hologram content according to an embodiment. For example, the first display device 410 may provide hologram content for each of a plurality of users such that only a user who requests the content can view the content.

6.2) Display Device for Individual Use

The second display device 420 can include at least one display 421. The second display device 420 can provide the display 421 at a position at which only an individual passenger can view display content. For example, the display 421 may be disposed on an armrest of a seat. The second display device 420 can display graphic objects corresponding to personal information of a user. The second display device 420 may include as many displays 421 as the number of passengers who can ride in the vehicle. The second display device 420 can realize a touch screen by forming a layered structure along with a touch sensor or being integrated with the touch sensor. The second display device 420 can display graphic objects for receiving a user input for seat adjustment or indoor temperature adjustment.

7) Cargo System

The cargo system 355 can provide items to a user at the request of the user. The cargo system 355 can operate on the basis of an electrical signal generated by the input device 310 or the communication device 330. The cargo system 355 can include a cargo box. The cargo box can be hidden in a part under a seat. When an electrical signal based on user input is received, the cargo box can be exposed to the cabin. The user can select a necessary item from articles loaded in the cargo box. The cargo system 355 may include a sliding moving mechanism and an item pop-up mechanism in order to expose the cargo box according to user input. The cargo system 355 may include a plurality of cargo boxes in order to provide various types of items. A weight sensor for determining whether each item is provided may be embedded in the cargo box.

8) Seat System

The seat system 360 can provide a user customized seat to a user. The seat system 360 can operate on the basis of an electrical signal generated by the input device 310 or the communication device 330.

According to an exemplary embodiment, the seat system 360 may output the guide message related to the screen output to the display system 350 as a haptic signal under the control of the main controller 370. As a specific example, when a call is received from another user and the telephone application of the vehicle 10 is executed, the seat system 360 may generate a preset vibration for the seat seated by the user under the control of the main controller 370 to transmit an alarm regarding the call reception to the user. According to an exemplary embodiment of the present invention, the seat system 360 may be included in and referred to as a message output unit that outputs the guide message using the haptic signal.

The seat system 360 can adjust at least one element of a seat on the basis of acquired user body data. The seat system 360 may include a user detection sensor (e.g., a pressure sensor) for determining whether a user sits on a seat. The seat system 360 may include a plurality of seats on which a plurality of users can sit. One of the plurality of seats can be disposed to face at least another seat. At least two users can set facing each other inside the cabin.

9) Payment System

The payment system 365 can provide a payment service to a user. The payment system 365 can operate on the basis of an electrical signal generated by the input device 310 or the communication device 330. The payment system 365 can calculate a price for at least one service used by the user and request the user to pay the calculated price.

(2) Autonomous Vehicle Usage Scenarios

FIG. 11 is a diagram referred to in description of a usage scenario of a user according to an embodiment of the present invention.

1) Destination Prediction Scenario

A first scenario S111 is a scenario for prediction of a destination of a user. An application which can operate in connection with the cabin system 300 can be installed in a user terminal. The user terminal can predict a destination of a user on the basis of user's contextual information through the application. The user terminal can provide information on unoccupied seats in the cabin through the application.

2) Cabin Interior Layout Preparation Scenario

A second scenario S112 is a cabin interior layout preparation scenario. The cabin system 300 may further include a scanning device for acquiring data about a user located outside the vehicle. The scanning device can scan a user to acquire body data and baggage data of the user. The body data and baggage data of the user can be used to set a layout. The body data of the user can be used for user authentication. The scanning device may include at least one image sensor. The image sensor can acquire a user image using light of the visible band or infrared band.

The seat system 360 can set a cabin interior layout on the basis of at least one of the body data and baggage data of the user. For example, the seat system 360 may provide a baggage compartment or a car seat installation space.

3) User Welcome Scenario

A third scenario S113 is a user welcome scenario. The cabin system 300 may further include at least one guide light. The guide light can be disposed on the floor of the cabin. When a user riding in the vehicle is detected, the cabin system 300 can turn on the guide light such that the user sits on a predetermined seat among a plurality of seats. For example, the main controller 370 may realize a moving light by sequentially turning on a plurality of light sources over time from an open door to a predetermined user seat.

4) Seat Adjustment Service Scenario

A fourth scenario S114 is a seat adjustment service scenario. The seat system 360 can adjust at least one element of a seat that matches a user on the basis of acquired body information.

5) Personal Content Provision Scenario

A fifth scenario S115 is a personal content provision scenario. The display system 350 can receive user personal data through the input device 310 or the communication device 330. The display system 350 can provide content corresponding to the user personal data.

6) Item Provision Scenario

A sixth scenario S116 is an item provision scenario. The cargo system 355 can receive user data through the input device 310 or the communication device 330. The user data may include user preference data, user destination data, etc. The cargo system 355 can provide items on the basis of the user data.

7) Payment Scenario

A seventh scenario S117 is a payment scenario. The payment system 365 can receive data for price calculation from at least one of the input device 310, the communication device 330 and the cargo system 355. The payment system 365 can calculate a price for use of the vehicle by the user on the basis of the received data. The payment system 365 can request payment of the calculated price from the user (e.g., a mobile terminal of the user).

8) Display System Control Scenario of User

An eighth scenario S118 is a display system control scenario of a user. The input device 310 can receive a user input having at least one form and convert the user input into an electrical signal. The display system 350 can control displayed content on the basis of the electrical signal.

9) AI Agent Scenario

A ninth scenario S119 is a multi-channel artificial intelligence (AI) agent scenario for a plurality of users. The AI agent 372 can discriminate user inputs from a plurality of users. The AI agent 372 can control at least one of the display system 350, the cargo system 355, the seat system 360 and the payment system 365 on the basis of electrical signals obtained by converting user inputs from a plurality of users.

10) Multimedia Content Provision Scenario for Multiple Users

A tenth scenario S120 is a multimedia content provision scenario for a plurality of users. The display system 350 can provide content that can be viewed by all users together. In this case, the display system 350 can individually provide the same sound to a plurality of users through speakers provided for respective seats. The display system 350 can provide content that can be individually viewed by a plurality of users. In this case, the display system 350 can provide individual sound through a speaker provided for each seat.

11) User Safety Secure Scenario

An eleventh scenario S121 is a user safety secure scenario. When information on an object around the vehicle which threatens a user is acquired, the main controller 370 can control an alarm with respect to the object around the vehicle to be output through the display system 350.

12) Personal Belongings Loss Prevention Scenario

A twelfth scenario S122 is a user's belongings loss prevention scenario. The main controller 370 can acquire data about user's belongings through the input device 310. The main controller 370 can acquire user motion data through the input device 310. The main controller 370 can determine whether the user exits the vehicle leaving the belongings in the vehicle on the basis of the data about the belongings and the motion data. The main controller 370 can control an alarm with respect to the belongings to be output through the display system 350.

13) Alighting Report Scenario

A thirteenth scenario S123 is an alighting report scenario. The main controller 370 can receive alighting data of a user through the input device 310. After the user exits the vehicle, the main controller 370 can provide report data according to alighting to a mobile terminal of the user through the communication device 330. The report data can include data about a total charge for using the vehicle 10.

The above-describe 5G communication technology can be combined with methods proposed in the present invention which will be described later and applied or can complement the methods proposed in the present invention to make technical features of the present invention concrete and clear.

According to an exemplary embodiment of the present invention, any one of the sensor data, the first context data, or the second context data of the user is used to determine the intention of the user related to the selection of any one of the functions of the vehicle. Therefore, according to the present invention, the function most suitable for the current situation is outputted, and it is possible to minimize the intervention of the user for utilizing various functions of the vehicle, thereby improving convenience.

In addition, according to an exemplary embodiment of the present invention, in relation to the functions of the vehicle, the guide message including the information on whether the screen is updated, the output function, and the manipulation result of the output function is output. Therefore, the user may more conveniently manipulate the output function, and may intuitively check the manipulation result.

In addition, according to an exemplary embodiment of the present invention, at least one graphic object for manipulation is output on the output screen, and the form of the graphic object varies according to the determined intention of the user. Therefore, the manipulation manner may be diversified according to the form of the graphic object, and even in the same manipulation, different manipulation results may be provided for each function of the vehicle.

Hereinafter, various exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 12 is a flowchart for describing a method of controlling a vehicle according to an exemplary embodiment of the present invention.

Referring to FIG. 12, a method of controlling a vehicle 10 according to an exemplary embodiment of the present invention may include a sensor data obtaining step S1200, a user intention determination step S1300, and a screen output step S1400.

In S1200, the sensor unit obtains sensor data of a user related to a selection of any one of the functions of the vehicle 10. According to an exemplary embodiment, the functions of the vehicle 10 may include at least one of a function of manipulating a component provided in the vehicle 10 or a function of manipulating an application installed in the vehicle 10.

According to an exemplary embodiment, the sensor data of the user may be sensor data of at least one of a gaze, an operation, or a voice of the user, or a combination of each sensor data.

In S1300, the control unit determines the intention of the user related to the selection of any one of the functions of the vehicle 10.

According to an exemplary embodiment, the intention of the user may be determined by using any one of 1) the sensor data, 2) the first context data which is pre-learned in relation to the situation in which the user selects any one of the functions of the vehicle, or 3) the second context data stored in the server that communicates with the plurality of other vehicles to learn the general situation in which any one of the functions of the vehicle is selected.

According to an exemplary embodiment, the first context data may be data generated by learning context data related to a situation when the user uses any one of the functions of the vehicle while driving or using the vehicle 10.

The first context data related to a situation when the user uses any one of the functions of the vehicle may include at least one of the sensor data of the user, a function of the vehicle 10 manipulated by the user, weather, internal temperature of the vehicle 10, humidity, date, and information about the voice of the user. However, the context data is not limited thereto, and may include all information on the inside or outside of the vehicle 10 which may specify a situation when a specific function is used among the functions of the vehicle 10 and information on a state of the user.

According to an exemplary embodiment, the second context data may include information indicating a function of the vehicle 10 which is generally used in a specific situation among the functions of the vehicle 10. The second context data may be data received from the server that communicates with the plurality of other vehicles 10 to learn the general situation in which any one of the functions of the vehicle 10 is selected. The server may generate the second context data as a result of collecting and generalizing the first context data received from the plurality of other vehicles 10.

According to an exemplary embodiment, when a location of any one of the components included in the vehicle 10 is included in a specific area within the vehicle 10 determined according to the gaze of the user, the control unit may determine an operation of the corresponding component as the intention of the user.

In S1400, the touch screen provided on the steering wheel of the vehicle 10 outputs a screen for manipulating a function consistent with the determined intention of the user. Specifically, the touch screen outputs a screen for manipulating any one of the functions of the vehicle 10 under the control of the control unit.

According to an exemplary embodiment, the control unit may control a screen of a manipulation target related to information obtained through the sensor data to be output. The manipulation target may be any one of the components provided in the vehicle or any one of the applications installed in the vehicle.

The information obtained through the sensor data may include information about at least one of an internal environment of the vehicle, a posture of the user, driving related information, or a currently operating application.

According to an exemplary embodiment, the information related to the internal environment of the vehicle may include at least one of temperature, humidity, and an air pollution degree in the vehicle, the information related to the posture of the user may include at least one of a backrest angle of a seat seated by the user, a neckrest angle of the seat, a height of the seat, and a position of the seat, the driving related information may include at least one of a current traffic situation, a current location, and a driving destination, and the information related to the currently operating application may include information related to an operation of at least one of the music player, the navigation, the radio, and the telephone.

According to an exemplary embodiment, when a location of any one of the components included in the vehicle 10 is included in a specific area within the vehicle 10 determined according to the gaze of the user, the control unit may control to output a screen for operating the corresponding component.

According to an exemplary embodiment, the control unit may control to output a screen for manipulating a function related to the current situation among the functions of the vehicle 10 using the first context data.

According to an exemplary embodiment, the control unit may control to output a screen for manipulating a function generally used in relation to the current situation among the functions of the vehicle 10 using the second context data.

According to an exemplary embodiment, at least one graphic object for manipulation of the user may be displayed on one area of the output screen. The graphic object may be displayed in the form of any one of a button, a slide bar, and a jog dial. The control unit may control the form of the graphic object to be displayed differently according to the determined intention of the user.

According to an exemplary embodiment, a guide message related to the output screen may be output together. The guide message may include at least one of information on whether or not the output screen is updated, information on a function output on the screen among functions of the vehicle, and information on a manipulation result of the function output on the screen.

The guide message may be output using at least one of an audio signal, a haptic signal for transmitting vibration or pressure to the user, and an image signal according to the information included in the guide message.

The method of controlling a vehicle according to the present invention may further include obtaining an input of the user from the output screen.

In the obtaining of the input of the user, the touch sensor included in the touch screen detects only a touch input determined according to the form of the graphic object among the touch inputs to the touch screen under the control of the controller.

Specifically, the touch input determined according to the form of the graphic object may be any one of a short touch, a long touch, a multi touch, a drag touch, a flick touch, a pinch-in touch, a pinch-out touch, a swipe touch, and a hovering touch on the touch screen, or a combination thereof.

According to an exemplary embodiment, the control unit may control the manipulation for the function of the vehicle 10 to be performed differently according to a type of the detected touch input even if the graphic object has the same form.

As described above, according to the present invention, the intention of the user related to the selection of any one of the functions of the vehicle may be determined so that a function most suitable for the current situation is output. In addition, it is possible to minimize the intervention of the user for utilizing various functions of the vehicle, thereby improving convenience.

In addition, according to the present invention, since the guide message is output together, the user may more conveniently manipulate the function output on the screen, and may intuitively check the manipulation result.

In addition, according to the present invention, the manipulation manner may be diversified according to the form of the graphic object, and even in the same manipulation, different manipulation results may be provided for each function of the vehicle. Therefore, the user may more effectively manipulate the function of the vehicle.

Hereinafter, in determining the intention of the user related to the selection of any one of the functions of the vehicle 10, an exemplary embodiment according to the priority of the data to be used will be described in detail.

FIG. 13 is a flowchart for specifically describing steps of determining an intention of a user in the method of controlling a vehicle according to an exemplary embodiment of the present invention.

According to an exemplary embodiment, the control unit may apply data used to determine the intention of the user according to a preset order.

Referring to FIG. 13, when the step of determining the intention of the user is started (S1300), the sensor data of the user detected by the sensor unit is first used (S1310). If the control unit detects a manipulation target related to the information obtained through the sensor data, the control unit outputs a screen related to the manipulation target (S1400).

If the control unit does not detect the manipulation target, the intention of the user may be determined using the first context data which is pre-learned in relation to a situation in which the user selects any one of the functions of the vehicle (S1320). If the control unit detects a function related to the current situation among the functions of the vehicle 10 using the first context data, the control unit outputs a screen for manipulating the corresponding function (S1400).

If the control unit does not detect the function related to the current situation, the intention of the user may be determined by receiving the second context data stored in the server. The server communicates with a plurality of other vehicles 10 to learn the general situation in which any one of the functions of the vehicle 10 is selected, and stores the second context data. The control unit receives the second context data from the server and outputs a screen for manipulating a function generally used in the current situation among the functions of the vehicle 10.

According to an exemplary embodiment, the control unit may also display a screen for manipulating two or more functions related to the current situation among the functions of the vehicle 10. In this case, in order to manipulate each function, two or more screens may be output, or one screen may be output to be divided into two or more areas. In addition, the control unit may also control the preset number of functions to be output in the order of highest relevance among the functions of the vehicle 10. The preset number may be set to a specific value in consideration of the number of display units, the number of functions of the vehicle 10, and the ease of recognition of the user.

As described above, according to the present invention, the intention of the user is determined through sequential steps. According to the present invention, if the selection of any one of the functions of the vehicle 10 may be clearly distinguished using only the sensor data obtained from the user, the screen is output accordingly, and otherwise, the first context data which is pre-learned or he second context data stored in the server is utilized. Therefore, the screen of the function that is most appropriate for the current situation and is matched to the intention of the user may be output.

Hereinafter, a screen output from one area of the steering wheel of the vehicle 10 and a guide message for the output screen according to an exemplary embodiment will be described in detail with reference to FIGS. 14 to 24.

FIGS. 14A to 14D are views for describing a screen output to manipulate a function of a vehicle according to an exemplary embodiment of the present invention.

According to an exemplary embodiment, at least one graphic object is displayed on a screen for manipulating a function of the vehicle 10, and the graphic object may be displayed in the form of any one of a button, a slide bar, and a jog dial.

Referring to FIGS. 14A to 14D, two display units 351 and 352 are disposed on one area of the steering wheel.

Referring to FIG. 14A, for manipulation of raising or lowering a specific numerical value in relation to the function of the vehicle 10, a button including the text of − and + may be displayed.

Referring to FIG. 14B, for manipulation of executing a specific function in relation to the function of the vehicle 10, a button including the text of NO and YES may be displayed.

Referring to FIG. 14C, two buttons are displayed on the display unit 351, and a slide bar for manipulation of raising or lowering a specific numerical value in relation to the function of the vehicle 10 may be displayed on the display unit 352. In FIG. 14D, a jog dial may also be displayed instead of the slide bar.

As described above, according to the present invention, the screen may be output in various manners to manipulate the function of the vehicle 10.

According to an exemplary embodiment of the present invention, the intention of the user may be determined using the sensor data obtained by the sensor unit, and the screen may be output accordingly. The sensor data of the user may be sensor data of at least one of a gaze, an operation, or a voice of the user, or a combination of each sensor data. Hereinafter, examples according to the sensor data of the user will be described with reference to FIGS. 15 to 17.

FIG. 15 is a view for describing an example of outputting a screen using sensor data of a user.

Referring to FIG. 15, the sensor unit obtains sensor data (voice) of the user, and the control unit determines a function related to an operation of an air conditioner among the functions of the vehicle 10 as the intention of the user, from the sensor data.

Under the control of the control unit, a guide message M15 related to the operation of the air conditioner is output, and buttons for asking whether to select the operation of the air conditioner are output to the display units 351 and 352. The guide message M15 may be output as an audio signal.

FIG. 16 is a view for describing another example of outputting the screen using the sensor data of the user.

Referring to FIG. 16, the control unit determines a function of changing a temperature set in the air conditioner among the functions of the vehicle 10 as the intention of the user, from the sensor data (voice).

Under the control of the control unit, a guide message M16b for displaying the temperature currently set in the air conditioner is output, and a guide message M16a for giving an alarm for a function of changing the temperature set in the air conditioner is output. The guide message M16b may be output as an image signal. According to an exemplary embodiment, the image signal may be output in a head-up display (HUD) manner.

FIG. 17 is a view for describing that a screen is output in relation to a gaze of a user among the sensor data of the user.

Referring to FIG. 17, a right rearview mirror of the components provided in the vehicle 10 is included in a specific area A1 determined according to the gaze (sensor data) of the user. In this case, a button for adjusting an angle of the right rearview mirror may be output to the display units 351 and 352 and a guide message M17 for guiding the adjustment of the right rearview mirror may be output together.

When the specific area is located elsewhere, a screen for adjusting the component (e.g., a room mirror, a left rearview mirror) located in the corresponding area may be output. As described above, the screen for any one of the functions of the vehicle 10 may be adaptively output according to the gaze of the user.

According to an exemplary embodiment of the present invention, if the manipulation target is not detected through the sensed sensor data of the user, the screen for manipulating the function related to the current situation may be controlled to be output using the first context data. Hereinafter, a description will be provided with reference to FIG. 18.

FIG. 18 is a view for describing an example of outputting the screen using first context data.

It is assumed that the first context data has been pre-learned that 4) a heater is operated when 2) an indoor temperature of the vehicle is 10 degrees or less 1) between December and January and 3) the user coughs.

Referring to FIG. 18, 1) a current date is December 1, 2) the indoor temperature of the vehicle 10 is 5 degrees, and 3) the user coughs may be obtained as a context data C18.

A current situation according to the context data C18 relates to the use of the heater according to the first context data. Therefore, the control unit may determine the intention of the user as the operation of the heater.

Under the control of the control unit, a button for operating the heater may be output to the display units 351 and 352, a message M18a for guiding the operation of the heater, and a guide message M18b for displaying the current indoor temperature may be output.

As described above, according to the present invention, although not explicitly intended by the user, the user may be provided with convenience by guiding a function having high relevance with the current situation among the functions of the vehicle 10.

According to an exemplary embodiment of the present invention, if the function related to the current situation is not detected, the control unit may receive the second context data from the server and control the screen for manipulating the function generally used in the current situation to be output. Hereinafter, a description will be provided with reference to FIGS. 19 and 20.

FIG. 19 is a view for describing an example of outputting the screen using second context data.

It is assumed that the first sensor data received from the plurality of other vehicles 10 is learned and the learning result that when 1) a fine dust is ‘good’, 2) the indoor temperature is 23 degrees or higher, and 3) a pollution degree of indoor air of the vehicle 10 is ‘bad’, 4) a window of the vehicle 10 is opened is stored in the server as the second context data.

Referring to FIG. 19, information that 1) a fine dust is ‘good’, 2) the indoor temperature is 23 degrees or higher, and 3) a pollution degree of indoor air of the vehicle 10 is ‘bad’ may be obtained as context data C19. A current situation according to the context data C19 relates to a manipulation of the window according to the second context data. The control unit may determine the intention of the user as the operation of the window of the vehicle.

Under the control of the controller, a message M19a for guiding the operation of the window of the vehicle 10 may be output, and a guide message M19b for displaying the pollution degree of the indoor air may be output together.

A ‘DOWN’ button may be displayed on the display unit 351 and an ‘UP’ button may be displayed on the display unit 352 so that the user may directly adjust the operation degree in relation to the operation of the window. As another example, buttons for asking the intention of the user may be displayed on the display units 351 and 352. When the user presses the YES button 352, the window of the vehicle 10 is lowered as much as set by the second context data.

FIG. 20 is a view for describing another example of outputting the screen using second context data.

It is assumed that the first sensor data received from the plurality of other vehicles 10 is learned and the learning result that when 1) a fine dust is ‘bad’, 2) the indoor temperature is 23 degrees or higher, and 3) a pollution degree of indoor air of the vehicle 10 is ‘bad’, 4) an air cleaner of the vehicle 10 is operated is stored in the server as the second context data.

Referring to FIG. 20, unlike the case of FIG. 19, context data C20 corresponding to that the fine dust is ‘bad’ is obtained. Therefore, a current situation according to the context data C20 relates to the operation of the air cleaner according to the second context data.

Under the control of the control unit, guide messages M20a, M20b, and M20c for guiding the operation of the air cleaner and the pollution degree of indoor air of the vehicle 10 may be output, and buttons for asking the intention of the user related to the operation of the air cleaner may be displayed on the display units 351 and 352.

The guide message M20c is a haptic signal that guides the operation of the air cleaner by generating vibration on the seat seated by the user. As described above, according to the present invention, since the guide message is output as various types of signals, the user may more quickly recognize the screen output in relation to the current situation.

FIG. 21 is a view for describing an example of outputting the screen in relation to an operation of a user among the sensor data of the user.

According to an exemplary embodiment of the present invention, a function of the vehicle 10 related to an operation of the user among the sensor data sensed by the user may be controlled to be output. Specifically, when a force F of a preset value or more is applied to the backrest of the seat of the vehicle 10, buttons 351 and 352 for adjusting the angle of the seat may be displayed. Guide messages M21a and M21b related to the function of adjusting the angle of the sheet may be output as an audio signal, and may also be output as an image signal or a haptic signal.

FIGS. 22A and 22B are views for describing an example a manipulation manner of a user on the output screen in relation to the functions of the vehicle.

According to the present invention, the manipulation for the function of the vehicle 10 may be controlled to be performed differently according to a type of the detected touch input. Referring to FIGS. 22A and 22B, a guide message M22 is output in relation to an operation of a telephone application.

In the case of FIG. 22A, when a swipe touch is detected on the display unit 352, a signal may be generated to perform an operation of rejecting a call reception in the telephone application.

In the case of FIG. 22B, when a shot touch input is detected on the display unit 352, a signal may be generated to accept the call reception and initiate a call in the telephone application.

As described above, even in the screen output for manipulating the same function of the vehicle 10, it is possible to improve the convenience of the user by diversifying the manipulation manner.

FIGS. 23A and 23B are views for describing another example the manipulation manner of the user on the output screen in relation to the functions of the vehicle.

According to an exemplary embodiment of the present invention, graphic objects having different forms may be displayed to manipulate the same function of the vehicle 10. In the case of FIG. 23A, in order to manipulate the telephone application, a + button and a − button for adjusting a call volume may be displayed on the display unit 351, and a button for rejection or acceptance may be displayed on the display unit 352. In this case, the user of the vehicle 10 may perform a swipe touch in the right direction to reject the reception.

In the case of FIG. 23B, a button including an image of putting down a handset may be displayed on the display unit 351, and a button including an image of lifting the handset may be displayed on the display unit 352 so that the rejection or acceptance of the telephone application is clearly distinguished. In this case, the user may intuitively touch the display unit 351 or 352 to perform the manipulation for the reception or the call even if there is no guidance on the manipulation manner.

FIGS. 24A and 24B are views for describing manipulation results according to the functions of the vehicle on a screen including the same graphic object.

According to an exemplary embodiment of the present invention, even if the manipulation is the manipulation for the screen on which the same graphic object is displayed, the manipulation may be controlled to perform different functions. In FIGS. 24A and 24B, the target applications, which are the music player (FIG. 24A) and the radio (FIG. 24B), are different from each other, but the graphic objects, which the − button 351 and the + button 352, are the same as each other.

In the case of FIG. 24A, each button 351, 352 may be used to adjust the volume of the music being played, and in the case of FIG. 24B, each button 351, 352 may be used to increase or decrease a frequency of the radio for channel change.

As described above, even if the screen on which the same graphic object is displayed is output and the input according to the same manipulation manner is detected, different manipulation results may be provided according to the function of each vehicle 10.

The above-described present invention can be implemented with computer-readable code in a computer-readable medium in which program has been recorded. The computer-readable medium may include all kinds of recording devices capable of storing data readable by a computer system. Examples of the computer-readable medium may include a hard disk drive (HDD), a solid state disk (SSD), a silicon disk drive (SDD), a ROM, a RAM, a CD-ROM, magnetic tapes, floppy disks, optical data storage devices, and the like and also include such a carrier-wave type implementation (for example, transmission over the Internet). Therefore, the above embodiments are to be construed in all aspects as illustrative and not restrictive. The scope of the invention should be determined by the appended claims and their legal equivalents, not by the above description, and all changes coming within the meaning and equivalency range of the appended claims are intended to be embraced therein.

Furthermore, although the invention has been described with reference to the exemplary embodiments, those skilled in the art will appreciate that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention described in the appended claims. For example, each component described in detail in embodiments can be modified. In addition, differences related to such modifications and applications should be interpreted as being included in the scope of the present invention defined by the appended claims. 

1. An apparatus of controlling a vehicle provided in the vehicle in automated vehicle and highway systems, the apparatus comprising: a sensor unit obtaining sensor data related to a selection of any one of the functions of the vehicle; a steering wheel having at least one touch screen on which a screen for manipulating at least one of the functions of the vehicle is output; and a control unit determining an intention of the user related to the selection of any one of the functions of the vehicle and controlling a screen for manipulating a function according to the determined intention of the user to be output, wherein the control unit determines the intention of the user using any one of the sensor data of the user, first context data which is pre-learned in relation to a situation in which the user selects any one of the functions of the vehicle, or second context data stored in a server that communicates with a plurality of other vehicles to learn a general situation in which any one of the functions of the vehicle is selected.
 2. The apparatus of claim 1, wherein the functions of the vehicle include at least one of a function of manipulating components provided in the vehicle or a function of manipulating applications installed in the vehicle.
 3. The apparatus of claim 2, wherein the sensor data of the user is sensor data for at least one of a gaze, an operation, or a voice of the user, or a combination of each sensor data.
 4. The apparatus of claim 3, wherein the control unit controls a screen of a manipulation target related to information obtained through the sensor data to be output, and the manipulation target is any one of the components provided in the vehicle or any one of the applications installed in the vehicle.
 5. The apparatus of claim 4, wherein the information obtained through the sensor data includes information about at least one of an internal environment of the vehicle, a posture of the user, driving related information, or a currently operating application.
 6. The apparatus of claim 5, wherein the information related to the internal environment of the vehicle includes at least one of temperature, humidity, and an air pollution degree in the vehicle, the information related to the posture of the user includes at least one of a backrest angle of a seat seated by the user, a neckrest angle of the seat, a height of the seat, and a position of the seat, the driving related information includes at least one of a current traffic situation, a current location, and a driving destination, and the information related to the currently operating application includes information related to an operation of at least one of a music player, a navigation, a radio, and a telephone.
 7. The apparatus of claim 4, wherein when a location of any one of the components provided in the vehicle is included in a specific area within the vehicle determined according to the gaze of the user, the control unit controls to output a screen for operating the corresponding component.
 8. The apparatus of claim 4, wherein when the manipulation target related to the information obtained through the sensor data is not detected, the control unit determines the intention of the user using the first context data.
 9. The apparatus of claim 8, wherein the control unit control to output a screen for manipulating a function related to the current situation among the functions of the vehicle using the first context data.
 10. The apparatus of claim 9, wherein when the function related to the current situation is not detected, the control unit controls to output a screen for manipulating a function generally used in relation to the current situation among the functions of the vehicle using the second context data.
 11. The apparatus of claim 2, wherein at least one graphic object for manipulation of the user is displayed on one area of the output screen, and the graphic object is the form of any one of a button, a slide bar, and a jog dial.
 12. The apparatus of claim 11, wherein the control unit controls the form of the graphic object to be displayed differently according to the determined intention of the user.
 13. The apparatus of claim 12, wherein the touch screen includes a touch sensor that senses a touch input, and the control unit controls the touch sensor to sense only the touch input determined according to the form of the graphic object.
 14. The apparatus of claim 13, wherein the touch input determined according to the form of the graphic object is any one of a short touch, a long touch, a multi touch, a drag touch, a flick touch, a pinch-in touch, a pinch-out touch, a swipe touch, and a hovering touch on the touch screen, or a combination thereof.
 15. The apparatus of claim 14, wherein the control unit controls the manipulation to be performed differently according to a type of the sensed touch input even if the graphic object has the same form.
 16. The apparatus of claim 2, further comprising a message output unit outputting a guide message related to the output screen.
 17. The apparatus of claim 16, wherein the guide message includes at least one of information on whether or not the output screen is updated, information on a function output on the screen among functions of the vehicle, and information on a manipulation result of the function output on the screen.
 18. The apparatus of claim 17, wherein the message output unit outputs the guide message using at least one of an audio signal, a haptic signal for transmitting vibration or pressure to the user, and an image signal according to information included in the guide message.
 19. (canceled)
 20. A method of controlling a vehicle including an apparatus of controlling a vehicle in automated vehicle and highway systems, the method comprising: obtaining, by a sensor unit, sensor data of a user related to a selection of any one of the functions of the vehicle; determining, by a control unit, an intention of the user related to the selection of any one of the functions of the vehicle; and outputting, by a touch screen included in a steering wheel of the vehicle, a screen for manipulating a function consistent with the determined intention of the user, wherein the intention of the user is determined using any one of the sensor data of the user, first context data which is pre-learned in relation to a situation in which the user selects any one of the functions of the vehicle, or second context data stored in a server that communicates with a plurality of other vehicles to learn a general situation in which any one of the functions of the vehicle is selected. 